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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

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

Projekt

<a href="/cs/project/GJ15-09600Y" target="_blank" >GJ15-09600Y: Adaptivní plánování v úlohách autonomního sběru dat v nestrukturovaném prostředí</a><br>

Návaznosti

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

Rok uplatnění

2017

Kód důvěrnosti údajů

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

Název periodika

Industrial Robot

ISSN

0143-991X

e-ISSN

1758-5791

Svazek periodika

44

Číslo periodika v rámci svazku

4

Stát vydavatele periodika

GB - Spojené království Velké Británie a Severního Irska

Počet stran výsledku

14

Strana od-do

428-441

Kód UT WoS článku

000407079900006

EID výsledku v databázi Scopus

2-s2.0-85025084826