Projects funded by the NCN

Information on the principal investigator and host institution

Information of the project and the call

Keywords

Equipment

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New simultaneous localization and mapping method with RGB-D data for precise visual navigation of autonomous robots in complex environments

2013/09/B/ST7/01583

Keywords:

simultaneous localization and mapping navigation computer vision structure-frommotion optimization methods

Descriptors:

  • ST7_10: Hardware implementation of algorithms
  • ST6_8: Computer graphics, image processing, computer vision, multimedia, computer games
  • ST7_4: Micro- and nanosystems engineering

Panel:

ST7 - Systems and communication engineering: electronics, communication, optoelectronics

Host institution :

Politechnika Poznańska, Wydział Elektryczny

woj. wielkopolskie

Other projects carried out by the institution 

Principal investigator (from the host institution):

dr hab. Piotr Skrzypczyński 

Number of co-investigators in the project: 7

Call: OPUS 5 - announced on 2013-03-15

Amount awarded: 381 340 PLN

Project start date (Y-m-d): 2014-02-18

Project end date (Y-m-d): 2016-05-17

Project duration:: 27 months (the same as in the proposal)

Project status: Project settled

Equipment purchased [PL]

  1. Komputer PC pokładowy (przenośny) z wielordzeniowym procesorem i rozszerzoną pamięcią (7 500 PLN)
  2. Mesa Imaging Swissranger SR-4000 (Ethernet) (19 000 PLN)
  3. Asus Xtion PRO (1 500 PLN)

Information in the final report

  • Publication in academic press/journals (6)
  • Articles in post-conference publications (6)
  • Book publications / chapters in book publications (8)
  1. Modeling spatial uncertainty of point features in feature-based RGB-D SLAM
    Authors:
    D. Belter, M. Nowicki, P. Skrzypczyński
    Academic press:
    Machine Vision and Applications (rok: 2018, tom: 29, strony: 45309), Wydawca: Springer International Publishing
    Status:
    Published
    DOI:
    DOI: - link to the publication
  2. On the Application of RGB-D SLAM Systems for Practical Localization of Mobile Robots
    Authors:
    A. Kostudiak, M. Nowicki, P. Skrzypczyński
    Academic press:
    Journal of Automation, Mobile Robotics and Intelligent Systems (rok: 2017, tom: 11(2), strony: 57-66), Wydawca: PIAP
    Status:
    Published
    DOI:
    10.14313/JAMRIS_2-2017/17 - link to the publication
  3. RGB-D Terrain Perception and Dense Mapping for Legged Robots
    Authors:
    D. Belter, P. Łabęcki, P. Fankhauser, R. Siegwart
    Academic press:
    International Journal of Applied Mathematics and Computer Science (rok: 2016, tom: Vol. 26, No. 1, strony: 81–97), Wydawca: University of Zielona Góra & Lubuskie Scientific Society
    Status:
    Published
    DOI:
    10.1515/amcs-2016-0006 - link to the publication
  4. An experimental study on feature-based SLAM for multi-legged robots with RGB-D sensors
    Authors:
    M. Nowicki, D. Belter, A. Kostusiak, P. Cížek , J. Faigl, P. Skrzypczyński
    Academic press:
    Industrial Robot: An International Journal (rok: 2017, tom: 44(4), strony: 428-441), Wydawca: Emerald Publishing
    Status:
    Published
    DOI:
    10.1108/IR-11-2016-0340 - link to the publication
  5. Efficient RGB-D Data Processing for Feature-Based Self-Localization of Mobile Robots
    Authors:
    M. Kraft, M. Nowicki, R. Penne, A. Schmidt, P. Skrzypczyski
    Academic press:
    International Journal of Applied Mathematics and Computer Science (rok: 2016, tom: Vol. 26, No. 1, strony: 63-79), Wydawca: University of Zielona Góra & Lubuskie Scientific Society
    Status:
    Published
    DOI:
    10.1515/amcs-2016-0005 - link to the publication
  6. Toward evaluation of visual navigation algorithms on RGB-D data from the first- and second-generation Kinect
    Authors:
    M. Kraft, M. Nowicki, A. Schmidt, M. Fularz, P. Skrzypczyński
    Academic press:
    Machine Vision and Applications (rok: 2017, tom: 28(1–2), strony: 61–74), Wydawca: Springer International Publishing
    Status:
    Published
    DOI:
    10.1007/s00138-016-0802-6 - link to the publication
  1. The Importance of Measurement Uncertainty Modelling in the Feature-based RGB-D SLAM
    Authors:
    D. Belter, P. Skrzypczyński
    Conference:
    10th International Workshop on Robot Motion and Control (RoMoCo) (rok: 2015, ), Wydawca: IEEE
    Data:
    konferencja 6-8 July 2015
    Status:
    Published
  2. Depth Data Fusion for Simultaneous Localization and Mapping – RGB-DD SLAM
    Authors:
    K. Walas, M. Nowicki, D. Ferstl, P. Skrzypczyński
    Conference:
    IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016) (rok: 2016, ), Wydawca: IEEE
    Data:
    konferencja September 19-21
    Status:
    Published
  3. Improving Accuracy of Feature-based RGB-D SLAM by Modeling Spatial Uncertainty of Point Features
    Authors:
    D. Belter, M. Nowicki, P. Skrzypczyński
    Conference:
    IEEE International Conference on Robotics and Automation (ICRA) (rok: 2016, ), Wydawca: IEEE
    Data:
    konferencja 16-21 May 2016
    Status:
    Published
  4. Integracja nowego algorytmu RGB-D SLAM w systemie nawigacji robota kroczącego
    Authors:
    D. Belter, M. Nowicki
    Conference:
    Krajowa Konferencja Robotyki (rok: 2016, ), Wydawca: Politechnika Warszawska
    Data:
    konferencja 14-18 września
    Status:
    Published
  5. RGB-DD: Metody łączenia obrazów głębi oraz intensywności przez interpolację i fuzję danych w zadaniu SLAM
    Authors:
    K. Walas, M. Nowicki, P. Skrzypczyński
    Conference:
    Krajowa Konferencja Robotyki (rok: 2016, ), Wydawca: Politechnika Warszawska
    Data:
    konferencja 14-18 września
    Status:
    Published
  6. Efektywne wykorzystanie danych RGB-D w systemie samolokalizacji na podstawie cech punktowych
    Authors:
    M. Kraft, M. Nowicki, A. Schmidt, P. Skrzypczyński
    Conference:
    Krajowa Konferencja Robotyki (rok: 2014, ), Wydawca: Politechnika Warszawska
    Data:
    konferencja od 2 do 6 lipca
    Status:
    Published
  1. Lightweight RGB-D SLAM System for Search and Rescue Robots
    Authors:
    D. Belter, M. Nowicki, P. Skrzypczynski, K. Walas, J. Wietrzykowski
    Book:
    Progress in Automation, Robotics and Measuring Techniques, Volume 2 Robotics (rok: 2015, tom: AISC Vol. 351, strony: 45617), Wydawca: Springer International Publishing
    Status:
    Published
  2. On Tracking and Matching in Vision Based Navigation
    Authors:
    A. Schmidt, M. Kraft, M. Fularz,
    Book:
    Image Analysis and Recognition (rok: 2014, tom: LNCS Vol. 8815, strony: 461-468), Wydawca: Springer International Publishing
    Status:
    Published
    DOI:
    link to the publication
  3. Evaluating Map-Based RGB-D SLAM on an Autonomous Walking Robot
    Authors:
    D. Belter, M. Nowicki, P. Skrzypczyński
    Book:
    Challenges in Automation, Robotics and Measurement Techniques (rok: 2016, tom: AISC Vol 440, strony: 469-481), Wydawca: Springer International Publishing
    Status:
    Published
  4. On the performance of pose-based RGB-D visual navigation systems
    Authors:
    D. Belter, M. Nowicki, P. Skrzypczynski
    Book:
    Computer Vision -- ACCV 2014 (rok: 2015, tom: LNCS 9004, strony: 407-423), Wydawca: Springer International Publishing
    Status:
    Published
  5. Real-Time SLAM from RGB-D Data on a Legged Robot: Aa Experimental Study
    Authors:
    D. Belter, A. Kostusiak, M. Nowicki, P. Skrzypczyński
    Book:
    Advances in Cooperative Robotics (rok: 2017, tom: 1, strony: 320-328), Wydawca: World Scientific
    Status:
    Published
  6. Accurate Map-Based RGB-D SLAM for Mobile Robots
    Authors:
    D. Belter, M. Nowicki, P. Skrzypczyński
    Book:
    Robot 2015: Second Iberian Robotics Conference (rok: 2015, tom: AISC Vol. 418, strony: 533-545), Wydawca: Springer International Publishing
    Status:
    Published
  7. Mobile Robot Localization: Where We Are and What Are the Challenges?
    Authors:
    P. Skrzypczyński
    Book:
    Automation 2017: Innovations in Automation, Robotics and Measurement Techniques (rok: 2017, tom: 1, strony: 249-267), Wydawca: Springer International Publishing
    Status:
    Published
  8. Some Remarks on the Optimization-Based Trajectory Reconstruction of an RGB-D Sensor
    Authors:
    A. Schmidt, M. KraftA, D. Belter, A. Kasiński
    Book:
    Image Processing and Communications Challenges 7 (rok: 2015, tom: AISC Vol. 389, strony: 223-230), Wydawca: Springer International Publishing
    Status:
    Published

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