NDLI: Research on visual odometry and terrain reconstruction for quadruped robot

Content Provider	IEEE Xplore Digital Library
Author	Ding Lianghong Wang Runxiao Duan Qingjuan Wang Dongbo
Copyright Year	2012
Description	Author affiliation: School of Mechano-Electronic Engineering, Xidian University, Xi'an, China (Duan Qingjuan) \|\| School of Mechatronics, Northwestern Polytechnical University, Xi'an, China (Ding Lianghong; Wang Runxiao; Wang Dongbo)
Abstract	The paper proposes a set of visual odometry and terrain reconstruction algorithms for quadruped robot in unstructured environments. Visual odometry can accurately measure the change value of the robot body's 6 degrees of freedom in 3D space. Terrain reconstruction can aid the robot to determine foot location around obstacles. With the visual odometry, the robot can remember the obstacle position even if the obstacles are out of vision. In order to simplify the process, two parts will also use the same sparse stereo visual image processing methods. The detail of the algorithms and the implementation process are introduced briefly. At last, the experiment results show that the algorithms are accurate and robust for quadruped robot navigation.
Starting Page	551
Ending Page	555
File Size	616668
Page Count	5
File Format	PDF
ISBN	9781467300889
e-ISBN	9781467300896
DOI	10.1109/CSAE.2012.6272833
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-25
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visualization Accuracy Robot kinematics Motion estimation Quadruped robot Cameras Rocks Terrain reconstruction Image reconstruction Unstructured environments Visual odometry
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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