Navigation in rough terrain requires an understanding of the environment. This work demonstrates the mapping capabilities of the quadrupedal robot ANYmal outdoors in a forest. For accurate scanning, the robot carries two rotating laser range sensors in the front and the back. The mapping is based on the fusion of the pose estimation of the robot (through inertial and kinematic measurements) and the distance measurements of the laser scanners.
The results of this video have been published in:
P. Fankhauser, M. Bloesch, C. Gehring, M. Hutter, and R. Siegwart, "Robot-Centric Elevation Mapping with Uncertainty Estimates," in International Conference on Climbing and Walking Robots (CLAWAR), 2014.
The software used in this video is available open-source:
[ Ссылка ]
[ Ссылка ]
