Digital Library of Zielona Góra contains 9 272 digital objects
Object
Title: RGB-D terrain perception and dense mapping for legged robots
Creator:
Belter, Dominik ; Łabecki, Przemysław ; Fankhauser, Péter ; Siegwart, Roland
Date:
Resource Type:
Contributor:
Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.
Group publication title:
Abstract:
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.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
DOI:
Pages:
Source:
AMCS, volume 26, number 1 (2016) ; click here to follow the link
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Repository > Types of work > Articles
- Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2016)
Last modified:
Jul 14, 2025
In our library since:
May 9, 2024
Number of object content hits:
141
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/publication/88943
Show description in RDF format:
Show description in OAI-PMH format:
-
-
-
-
-
-
-
-
-
-
-
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 26, number 1 (2016)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 26, number 2 (2016)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 26, number 3 (2016)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 26, number 4 (2016)
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
| Edition name | Date |
|---|---|
| RGB-D terrain perception and dense mapping for legged robots | Jul 14, 2025 |
Objects Similar
Belter, Dominik Skrzypczyński, Piotr Korbicz, Józef (1951- ) - red. Uciński, Dariusz - red.
Walas, Krzysztof Belter, Dominik Korbicz, Józef (1951- ) - red. Uciński, Dariusz - red.
Khaksar, Weria Uddin, Md Zia Torresen, Jim Clempner, Julio B. - ed. Ikonen, Enso - ed. Kurdyukov, Alexander P. - ed.
Auer, Ekaterina Luther, Wolfram Rauh, Andreas - ed. Auer, Ekaterina - ed. Hofer,Eberhard P. - ed. Luther, Wolfram - ed.
Kościelny, Jan Maciej Syfert, Michał Korbicz, Józef (1951- ) - red.
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 (1951- ) - red. Uciński, Dariusz - red.
