DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | 황보제민 | - |
dc.contributor.author | Mun, Juhyeok | - |
dc.contributor.author | 문주혁 | - |
dc.date.accessioned | 2024-07-25T19:30:37Z | - |
dc.date.available | 2024-07-25T19:30:37Z | - |
dc.date.issued | 2023 | - |
dc.identifier.uri | http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=1045597&flag=dissertation | en_US |
dc.identifier.uri | http://hdl.handle.net/10203/320497 | - |
dc.description | 학위논문(석사) - 한국과학기술원 : 기계공학과, 2023.8,[iv, 35 p. :] | - |
dc.description.abstract | In order to effectively control a legged robot and navigate across diverse terrains, it is essential to perceive the robot's surrounding terrain. Previous approaches involved generating a height map by projecting a depth image captured by a camera mounted on the robot, using odometry information to determine the robot's pose. However, this method often resulted in inconsistencies between the generated height map and the actual terrain due to odometry drift or depth image inaccuracies. To address this issue, I introduce CIA-SLAM (Contact Information-Aided SLAM), a novel SLAM system that leverages foot contact information to obtain a precise height map relative to the robot. CIA-SLAM builds upon the foundation of feature-based SLAM, which optimizes robot poses and feature points, and extends it to optimize the height map as well. In the process of bundle adjustment, CIA-SLAM jointly optimizes robot poses, feature points, and the height map, incorporating additional constraints from the original feature-based SLAM approach. These constraints include foot contact information and the projection of depth images onto the height map. By integrating these supplementary cues, CIA-SLAM enhances the accuracy of the height map, enabling more precise control and navigation for legged robots across diverse terrains. | - |
dc.language | eng | - |
dc.publisher | 한국과학기술원 | - |
dc.subject | 동시적 위치추정 및 지도작성▼a높이 지도▼a지면 접촉 정보▼a보행 로봇 | - |
dc.subject | SLAM▼aHeight map▼aFoot contact information▼aLegged robot | - |
dc.title | Contact information-aided SLAM on a legged robot | - |
dc.title.alternative | 보행 로봇의 지면 접촉 정보를 이용한 동시적 위치추정 및 지도작성 | - |
dc.type | Thesis(Master) | - |
dc.identifier.CNRN | 325007 | - |
dc.description.department | 한국과학기술원 :기계공학과, | - |
dc.contributor.alternativeauthor | Hwangbo, Jemin | - |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.