Walking robots

Feature-based RGB-D SLAM with Dense Terrain Mapping for a Walking Robot:

Robots:

Mapping and path planning:

Downloadable links: part1 and part2

Dataset:http://lrm.put.poznan.pl/put-messor-ii-state-estimation-dataset/

References:
[1] D. Belter, P. Łabęcki, P. Skrzypczyński, Adaptive Motion Planning for Autonomous Rough Terrain Traversal with a Walking Robot, Journal of Field Robotics, vol. 33(3), pp. 337-370, 2016 pdf
[2] M. Kraft, M. Nowicki, R. Penne, A. Schmidt, and P. Skrzypczyński, „Efficient RGB-D data processing for feature-based self-localization of mobile robots”, International Journal of Applied Mathematics and Computer Science (AMCS), 26(1), IF: 1.390, p. 63-79, January 2016 pdf
[3] D. Belter, P. Łabęcki, P. Fankhauser, R. Siegwart, RGB-D terrain perception and dense mapping for legged robots, International Journal of Applied Mathematics and Computer Science, vol. 26(1), pp. 81-97, 2016 pdf
[4] Dominik Belter, Michał Nowicki, Piotr Skrzypczyński, Evaluating Map-Based RGB-D SLAM on an Autonomous Walking Robot, Recent Advances in Automation, Robotics and Measuring Techniques, vol. 351, R. Szewczyk, C. Zieliński, M. Kaliczyńska (Eds.), pp. 469-481, 2016
[5] Dominik Belter, Michał Nowicki, Piotr Skrzypczyński, Improving Accuracy of Feature-based RGB-D SLAM by Modeling Spatial Uncertainty of Point Features, IEEE International Conference on Robotics and Automation, May 16-21, Stockholm, Sweden, pp. 1279-1284, 2016