Stelzer, Annett and Hirschmüller, Heiko and Görner, Martin (2012) Stereo-vision-based navigation of a six-legged walking robot in unknown rough terrain. The International Journal of Robotics Research, 31 (4), pp. 381-402. SAGE Publications. doi: 10.1177/0278364911435161. ISSN 0278-3649.
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Official URL: http://ijr.sagepub.com/content/31/4/381
Abstract
In this paper we presents a visual navigation algorithm for the six-legged walking robot DLR Crawler in rough terrain. The algorithm is based on stereo images from which depth images are computed using the semi- global matching (SGM) method. Further, a visual odometry is calculated along with an error measure. Pose estimates are obtained by fusing iner- tial data with relative leg odometry and visual odometry measurements using an indirect information filter. The visual odometry error measure is used in the filtering process to put lower weights on erroneous visual odometry data, hence, improving the robustness of pose estimation. From the estimated poses and the depth images, a dense digital terrain map is created by applying the locus method. The traversability of the terrain is estimated by a plane fitting approach and paths are planned using a D* Lite planner taking the traversability of the terrain and the current motion capabilities of the robot into account. Motion commands and the traversability measures of the upcoming terrain are sent to the walking layer of the robot so that it can choose an appropriate gait for the terrain. Experimental results show the accuracy of the navigation algorithm and its robustness against visual disturbances.
Item URL in elib: | https://elib.dlr.de/79891/ | ||||||||||||||||
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Document Type: | Article | ||||||||||||||||
Title: | Stereo-vision-based navigation of a six-legged walking robot in unknown rough terrain | ||||||||||||||||
Authors: |
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Date: | April 2012 | ||||||||||||||||
Journal or Publication Title: | The International Journal of Robotics Research | ||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||
Open Access: | Yes | ||||||||||||||||
Gold Open Access: | No | ||||||||||||||||
In SCOPUS: | Yes | ||||||||||||||||
In ISI Web of Science: | Yes | ||||||||||||||||
Volume: | 31 | ||||||||||||||||
DOI: | 10.1177/0278364911435161 | ||||||||||||||||
Page Range: | pp. 381-402 | ||||||||||||||||
Editors: |
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Publisher: | SAGE Publications | ||||||||||||||||
ISSN: | 0278-3649 | ||||||||||||||||
Status: | Published | ||||||||||||||||
Keywords: | stereo vision, mapping, pose estimation, sensor fusion, rough terrain navigation, walking robots | ||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||
HGF - Program: | Space | ||||||||||||||||
HGF - Program Themes: | Space System Technology | ||||||||||||||||
DLR - Research area: | Raumfahrt | ||||||||||||||||
DLR - Program: | R SY - Space System Technology | ||||||||||||||||
DLR - Research theme (Project): | R - RMC - Mobilität und Exploration (old) | ||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | ||||||||||||||||
Deposited By: | Stelzer, Annett | ||||||||||||||||
Deposited On: | 19 Dec 2012 09:32 | ||||||||||||||||
Last Modified: | 07 Nov 2023 15:10 |
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