Robot-Centric Elevation Mapping with StarlETH
This video demonstrates the first terrain scanning capabilities of our quadrupedal robot StarlETH. The mapping is based on the fusion of the pose estimation of the robot (through inertial and kinematic measurements) and the distance scanning with a PrimeSense structured light sensor (Kinect-like). The result an elevation map, in which each cell in the grid holds information about the height of the terrain and the uncertainty of the estimation.
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.