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

International Journal of Robotics Research

Volumn 31, Issue 4, 2012, Pages 381-402

  Stelzer, Annett ^a   Hirschmüller, Heiko ^a   Görner, Martin ^a  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

mapping; pose estimation; rough terrain navigation; sensor fusion; Stereo vision; walking robots

Indexed keywords

A-PLANE; DEPTH IMAGE; DIGITAL TERRAIN MAPS; ERROR MEASURES; FILTERING PROCESS; INFORMATION FILTER; NAVIGATION ALGORITHMS; ODOMETRY; POSE ESTIMATION; ROUGH TERRAINS; SEMI-GLOBAL MATCHING; SENSOR FUSION; SIX-LEGGED WALKING; STEREO-IMAGE; TRAVERSABILITY; VISUAL NAVIGATION; VISUAL ODOMETRY; WALKING ROBOTS;

ALGORITHMS; COMPUTER VISION; IMAGE MATCHING; LANDFORMS; MAPPING; MOBILE ROBOTS; NAVIGATION; STEREO VISION;

ROBOT PROGRAMMING;

EID: 84859616137     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364911435161     Document Type: Article

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