Belter, Dominik ; Łabecki, Przemysław ; Fankhauser, Péter ; Siegwart, Roland
Korbicz, Józef - red. ; Uciński, Dariusz - red.
This paper addresses the issues of unstructured terrain modeling for the purpose of navigation with legged robots. We present an improved elevation grid concept adopted to the specific requirements of a small legged robot with limited perceptual capabilities. We propose an extension of the elevation grid update mechanism by incorporating a formal treatment of the spatial uncertainty. Moreover, this paper presents uncertainty models for a structured light RGB-D sensor and a stereo vision camera used to produce a dense depth map. ; The model for the uncertainty of the stereo vision camera is based on uncertainty propagation from calibration, through undistortion and rectification algorithms, allowing calculation of the uncertainty of measured 3D point coordinates. The proposed uncertainty models were used for the construction of a terrain elevation map using the Videre Design STOC stereo vision camera and Kinect-like range sensors. We provide experimental verification of the proposed mapping method, and a comparison with another recently published terrain mapping method for walking robots.
Zielona Góra: Uniwersytet Zielonogórski
AMCS, volume 26, number 1 (2016) ; click here to follow the link
Biblioteka Uniwersytetu Zielonogórskiego
May 9, 2024
May 9, 2024
28
https://zbc.uz.zgora.pl/publication/88943
Edition name | Date |
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RGB-D terrain perception and dense mapping for legged robots | May 9, 2024 |
Belter, Dominik Skrzypczyński, Piotr Korbicz, Józef - red. Uciński, Dariusz - red.
Walas, Krzysztof Belter, Dominik Korbicz, Józef - red. Uciński, Dariusz - red.
Kościelny, Jan Maciej Syfert, Michał Korbicz, Józef - red.
Auer, Ekaterina Luther, Wolfram Rauh, Andreas - ed. Auer, Ekaterina - ed. Hofer,Eberhard P. - ed. Luther, Wolfram - ed.
Iwanowski, Michał
Al-Jelawy, Haider M. Al-Rumaithi, Ayad Fadhil, Aqeel T. Al-Sherrawi, Mohannad H. Jurczak, Paweł - red.
Han, Qing-Long Gu, Keqin Korbicz, Józef - red. Uciński, Dariusz - red.
Bochniak, Jacek Gałkowski, Krzysztof Rogers, Eric Kummert, Anton Korbicz, Józef - red. Uciński, Dariusz - red.