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RGB-D terrain perception and dense mapping for legged robots

Belter D., Łabecki P, Fankhauser P., Siegwart R.

International Journal of Applied Mathematics and Computer Science

2016

Vol. 26, no. 1

81--97

This paper addresses the issues of unstructured terrain modeling for the purpose of navigation with legged robots. We present an improved elevation grid concept adopted to the specific requirements of a small legged robot with limited perceptual capabilities. We propose an extension of the elevation grid update mechanism by incorporating a formal treatment of the spatial uncertainty. Moreover, this paper presents uncertainty models for a structured light RGB-D sensor and a stereo vision camera used to produce a dense depth map. The model for the uncertainty of the stereo vision camera is based on uncertainty propagation from calibration, through undistortion and rectification algorithms, allowing calculation of the uncertainty of measured 3D point coordinates. The proposed uncertainty models were used for the construction of a terrain elevation map using the Videre Design STOC stereo vision camera and Kinect-like range sensors. We provide experimental verification of the proposed mapping method, and a comparison with another recently published terrain mapping method for walking robots.

Generating Graphical User Interfaces from Precise Domain Specifications

Rybinski K, Jarzebowski N, Smiałek M, Nowakowski W., Skrzypek L., Łabecki P

e-Informatica Software Engineering Journal

2014

Vol. 8, nr 1

39--52

Turning requirements into working systems is the essence of software engineering. This paper proposes automation of one of the aspects of this vast problem: generating user interfaces directly from requirements models. It presents syntax and semantics of a comprehensible yet precise domain specification language. For this language, the paper presents the process of generating code for the user interface elements. This includes model transformation procedures to generate window initiation code and event handlers associated with these windows. The process is illustrated with an example based on an actual system developed using the presented approach.