RGB-D terrain perception and dense mapping for legged robots

DOI10.1515/AMCS-2016-0006MaRDI QIDQ285393zbMATH OpenOpenAlexWikidataFDO

Authors Dominik Belter, Przemysław Łabecki, Péter Fankhauser, Roland Siegwart

Publication date 19 May 2016

Published in International Journal of Applied Mathematics and Computer Science (Search for Journal in Brave)

Copyright license Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported

Full work available at URL https://doi.org/10.1515/amcs-2016-0006

zbMATH Keywords

uncertaintyelevation mappinglegged robotsRGB-D perception

Mathematics Subject Classification ID

Image processing (compression, reconstruction, etc.) in information and communication theory (94A08) Control/observation systems with incomplete information (93C41) Automated systems (robots, etc.) in control theory (93C85) Geometric methods (93B27)

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Cites work

• scientific article; zbMATH DE number 2238781 (Why is no real title available?)
• A Bayesian regression approach to terrain mapping and an application to legged robot locomotion
• Computer vision. Algorithms and applications
• Rough terrain mapping and classification for foothold selection in a walking robot
• Simultaneous localization and mapping: a feature-based probabilistic approach
• Supporting locomotive functions of a six-legged walking robot

Cited in

(8)

• Curve skeleton extraction via \(k\)-nearest-neighbors based contraction
• Adaptive impedance control of robot manipulators with parametric uncertainty for constrained path-tracking
• Vision-based terrain characerterization and traversability assessment
• Design and Performance Analysis of Automated Guided Vehicle: Applications to Terrain Mapping
• D* Extra Lite: a dynamic A* with search-tree cutting and frontier-gap repairing
• Saturating stiffness control of robot manipulators with bounded inputs
• A Bayesian regression approach to terrain mapping and an application to legged robot locomotion
• Rough terrain mapping and classification for foothold selection in a walking robot

Describes a project that uses

Uses Software

• OctoMap

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