On autonomous spatial exploration with small hexapod walking robot using tracking camera intel RealSense T265

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00336165" target="_blank" >RIV/68407700:21230/19:00336165 - isvavai.cz</a>

Výsledek na webu

<a href="https://ieeexplore.ieee.org/document/8870968" target="_blank" >https://ieeexplore.ieee.org/document/8870968</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ECMR.2019.8870968" target="_blank" >10.1109/ECMR.2019.8870968</a>

Jazyk výsledku

angličtina

Název v původním jazyce

On autonomous spatial exploration with small hexapod walking robot using tracking camera intel RealSense T265

Popis výsledku v původním jazyce

In this paper, we report on the deployment of the combination of commercially available off-the-shelf embedded visual localization system and RGB-D camera in an autonomous robotic exploration performed by small hexapod walking robot. Since the multi-legged walking robot is capable of traversing rough terrains, the addressed exploration problem is to create a map of an unknown environment while simultaneously performing the traversability assessment of the explored environment to efficiently and safely reach next navigational waypoints. The proposed system is targeted to run onboard of small multi-legged robots, and therefore, the system design is focused on computationally efficient approaches using relatively lightweight components. Therefore, we take advantages of the recently introduced tracking camera Intel RealSense T265 and RGB-D camera Intel RealSense D435 that are deployed to our developed autonomous hexapod walking robot that is equipped with adaptive locomotion control. Together with the proposed computationally efficient data representation and traversability assessment, the developed system supports onboard mapping and online decision-making within the exploration strategy even on a platform with low computational capabilities. Based on the reported experimental evaluation of the tracking camera, the developed system provides sufficiently accurate localization, and the robot has been able to explore indoor and outdoor environments fully autonomously.

Název v anglickém jazyce

On autonomous spatial exploration with small hexapod walking robot using tracking camera intel RealSense T265

Popis výsledku anglicky

In this paper, we report on the deployment of the combination of commercially available off-the-shelf embedded visual localization system and RGB-D camera in an autonomous robotic exploration performed by small hexapod walking robot. Since the multi-legged walking robot is capable of traversing rough terrains, the addressed exploration problem is to create a map of an unknown environment while simultaneously performing the traversability assessment of the explored environment to efficiently and safely reach next navigational waypoints. The proposed system is targeted to run onboard of small multi-legged robots, and therefore, the system design is focused on computationally efficient approaches using relatively lightweight components. Therefore, we take advantages of the recently introduced tracking camera Intel RealSense T265 and RGB-D camera Intel RealSense D435 that are deployed to our developed autonomous hexapod walking robot that is equipped with adaptive locomotion control. Together with the proposed computationally efficient data representation and traversability assessment, the developed system supports onboard mapping and online decision-making within the exploration strategy even on a platform with low computational capabilities. Based on the reported experimental evaluation of the tracking camera, the developed system provides sufficiently accurate localization, and the robot has been able to explore indoor and outdoor environments fully autonomously.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

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

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

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

Rok uplatnění

2019

Kód důvěrnosti údajů

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

Název statě ve sborníku

2019 European Conference on Mobile Robots (ECMR)

ISBN

978-1-7281-3605-9

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

—

Název nakladatele

IEEE

Místo vydání

St. Paul, Minnesota

Místo konání akce

Prague

Datum konání akce

4. 8. 2019

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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