Name
Abstract | ||
|---|---|---|
This paper demonstrates an application of a Simultaneous Localization and Mapping algorithm to localize a six-legged robot using data from a compact RGB-D sensor. The algorithm employs a new concept of combining fast Visual Odometry to track the sensor motion, and a map of 3-D point features and robot poses, which is then optimized. The focus of the paper is on evaluating the presented approach on a real walking robot under supervision of a motion registration system that provides ground truth trajectories. We evaluate the accuracy of the estimated robot trajectories applying the well-established methodologies of Relative Pose Error and Absolute Trajectory Error, and investigate the causes of accuracy degradation when the RGB-D camera is carried by a walking robot. Moreover, we demonstrate that the accuracy of robot poses is sufficient for dense environment mapping in 3-D. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1007/978-3-319-29357-8_42 | CHALLENGES IN AUTOMATION, ROBOTICS AND MEASUREMENT TECHNIQUES |
Keywords | DocType | Volume |
RGB-D SLAM,Factor graph,OctoMap,Walking robot | Conference | 440 |
ISSN | Citations | PageRank |
2194-5357 | 0 | 0.34 |
References | Authors | |
13 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dominik Belter | 1 | 100 | 16.31 |
| Michal Nowicki | 2 | 31 | 4.68 |
| Piotr Skrzypczynski | 3 | 148 | 25.07 |