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Stereo-vision-based navigation of a six-legged walking robot in unknown rough terrain

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/
Document Type:Article
Title:Stereo-vision-based navigation of a six-legged walking robot in unknown rough terrain
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Stelzer, AnnettAnnett.Stelzer (at) dlr.deUNSPECIFIED
Hirschmüller, HeikoHeiko.Hirschmueller (at) dlr.deUNSPECIFIED
Görner, MartinMartin.Goerner (at) dlr.deUNSPECIFIED
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:
EditorsEmail
Hollerbach, JohnSchool of Computing, University of Utah
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 Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
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:06 Sep 2019 15:30

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