An experimental study on feature-based SLAM for multi-legged robots with RGB-D sensors

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F17%3A00315460" target="_blank" >RIV/68407700:21230/17:00315460 - isvavai.cz</a>

Result on the web

<a href="http://www.emeraldinsight.com/doi/abs/10.1108/IR-11-2016-0340" target="_blank" >http://www.emeraldinsight.com/doi/abs/10.1108/IR-11-2016-0340</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1108/IR-11-2016-0340" target="_blank" >10.1108/IR-11-2016-0340</a>

Result language

angličtina

Original language name

An experimental study on feature-based SLAM for multi-legged robots with RGB-D sensors

Original language description

This paper aims to evaluate four different simultaneous localization and mapping (SLAM) systems in the context of localization of multi-legged walking robots equipped with compact RGB-D sensors. This paper identifies problems related to in-motion data acquisition in a legged robot and evaluates the particular building blocks and concepts applied in contemporary SLAM systems against these problems. The SLAM systems are evaluated on two independent experimental set-ups, applying a well-established methodology and performance metrics. Four feature-based SLAM architectures are evaluated with respect to their suitability for localization of multi-legged walking robots. The evaluation methodology is based on the computation of the absolute trajectory error (ATE) and relative pose error (RPE), which are performance metrics well-established in the robotics community. Four sequences of RGB-D frames acquired in two independent experiments using two different six-legged walking robots are used in the evaluation process. The evaluation was performed using indoor mockups of terrain. Experiments in more natural and challenging environments are envisioned as part of future research. The lack of accurate self-localization methods is considered as one of the most important limitations of walking robots. The main contribution lies in the integration of the state-of-the-art SLAM methods on walking robots and their thorough experimental evaluation using a well-established methodology. Moreover, a SLAM system designed especially for RGB-D sensors and real-world applications is presented in details.

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

<a href="/en/project/GJ15-09600Y" target="_blank" >GJ15-09600Y: Adaptive Informative Path Planning in Autonomous Data Collection in Dynamic Unstructured Environments</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2017

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Industrial Robot

ISSN

0143-991X

e-ISSN

1758-5791

Volume of the periodical

44

Issue of the periodical within the volume

4

Country of publishing house

GB - UNITED KINGDOM

Number of pages

14

Pages from-to

428-441

UT code for WoS article

000407079900006

EID of the result in the Scopus database

2-s2.0-85025084826