Real-time SLAM from RGB-D data on a legged robot: an experimental study
[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ P ] pracownik
2017
rozdział w monografii naukowej / referat
angielski
- SLAM
- bundle adjustment
- RGB-D sensor
- legged robot
EN This paper evaluates four different Simultaneous Localization and Mapping (SLAM) systems in the context of self-localization of a six-legged robot equipped with a compact RGB-D sensor. Three systems under investigation represent different state of the art approaches to SLAM with RGB-D data, and they are compared to our new approach, called PUT SLAM. We identify problems related to the specific data gathered in-motion by a legged robot, and demonstrate robustness and accuracy of our new approach. The SLAM systems are evaluated applying the well-established methodologies, and using a data set which is made public to ensure that our results are verifiable.
320 - 328
20
WoS (15)