{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,1]],"date-time":"2026-04-01T21:09:00Z","timestamp":1775077740379,"version":"3.50.1"},"reference-count":34,"publisher":"Emerald","issue":"4","license":[{"start":{"date-parts":[[2017,6,19]],"date-time":"2017-06-19T00:00:00Z","timestamp":1497830400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2017,6,19]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This paper aims to evaluate four different simultaneous localization and mapping (SLAM) systems in the context of localization of multi-legged walking robots equipped with compact RGB-D sensors. This paper identifies problems related to in-motion data acquisition in a legged robot and evaluates the particular building blocks and concepts applied in contemporary SLAM systems against these problems. The SLAM systems are evaluated on two independent experimental set-ups, applying a well-established methodology and performance metrics.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>Four feature-based SLAM architectures are evaluated with respect to their suitability for localization of multi-legged walking robots. The evaluation methodology is based on the computation of the absolute trajectory error (ATE) and relative pose error (RPE), which are performance metrics well-established in the robotics community. Four sequences of RGB-D frames acquired in two independent experiments using two different six-legged walking robots are used in the evaluation process.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The experiments revealed that the predominant problem characteristics of the legged robots as platforms for SLAM are the abrupt and unpredictable sensor motions, as well as oscillations and vibrations, which corrupt the images captured in-motion. The tested adaptive gait allowed the evaluated SLAM systems to reconstruct proper trajectories. The bundle adjustment-based SLAM systems produced best results, thanks to the use of a map, which enables to establish a large number of constraints for the estimated trajectory.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Research limitations\/implications<\/jats:title>\n<jats:p>The evaluation was performed using indoor mockups of terrain. Experiments in more natural and challenging environments are envisioned as part of future research.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Practical implications<\/jats:title>\n<jats:p>The lack of accurate self-localization methods is considered as one of the most important limitations of walking robots. Thus, the evaluation of the state-of-the-art SLAM methods on legged platforms may be useful for all researchers working on walking robots\u2019 autonomy and their use in various applications, such as search, security, agriculture and mining.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The main contribution lies in the integration of the state-of-the-art SLAM methods on walking robots and their thorough experimental evaluation using a well-established methodology. Moreover, a SLAM system designed especially for RGB-D sensors and real-world applications is presented in details.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-11-2016-0340","type":"journal-article","created":{"date-parts":[[2017,5,4]],"date-time":"2017-05-04T05:48:43Z","timestamp":1493876923000},"page":"428-441","source":"Crossref","is-referenced-by-count":16,"title":["An experimental study on feature-based SLAM for multi-legged robots with RGB-D sensors"],"prefix":"10.1108","volume":"44","author":[{"given":"Micha\u0142 R.","family":"Nowicki","sequence":"first","affiliation":[]},{"given":"Dominik","family":"Belter","sequence":"additional","affiliation":[]},{"given":"Aleksander","family":"Kostusiak","sequence":"additional","affiliation":[]},{"given":"Petr","family":"C\u00ed\u017eek","sequence":"additional","affiliation":[]},{"given":"Jan","family":"Faigl","sequence":"additional","affiliation":[]},{"given":"Piotr","family":"Skrzypczy\u0144ski","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"issue":"3","key":"key2020120705174909700_ref001","doi-asserted-by":"crossref","first-page":"229","DOI":"10.1108\/01439911311309924","article-title":"Precise self-localization of a walking robot on rough terrain using parallel tracking and mapping","volume":"40","year":"2013","journal-title":"Industrial Robot: An International Journal"},{"key":"key2020120705174909700_ref002","first-page":"343","article-title":"A compact walking robot \u2013 flexible research and development platform","volume-title":"Recent Advances in Automation, Robotics and Measuring Techniques, AISC 267","year":"2014"},{"key":"key2020120705174909700_ref003","first-page":"407","article-title":"On the performance of pose-based RGB-D visual navigation systems","volume-title":"Computer Vision \u2013 ACCV 2014, LNCS 9004","year":"2015"},{"key":"key2020120705174909700_ref004","first-page":"11","article-title":"Lightweight RGB-D SLAM system for search and rescue robots","volume-title":"Progress in Automation, Robotics and Measuring Techniques, AISC 351","year":"2015"},{"key":"key2020120705174909700_ref005","first-page":"1279","article-title":"Improving accuracy of feature-based RGB-D SLAM by modeling spatial uncertainty of point features","year":"2016"},{"issue":"3","key":"key2020120705174909700_ref006","doi-asserted-by":"crossref","first-page":"337","DOI":"10.1002\/rob.21610","article-title":"Adaptive motion planning for autonomous rough terrain traversal with a walking robot","volume":"33","year":"2016","journal-title":"Journal of Field Robotics"},{"key":"key2020120705174909700_ref007","doi-asserted-by":"crossref","first-page":"320","DOI":"10.1142\/9789813149137_0039","article-title":"Real-time SLAM from RGB-D data on a legged robot: an experimental study","volume-title":"Advances in Cooperative Robotics","year":"2016"},{"key":"key2020120705174909700_ref008","first-page":"2273","article-title":"On localization and mapping with RGB-D sensor and hexapod walking robot in rough terrains","year":"2016"},{"key":"key2020120705174909700_ref009","first-page":"5704","article-title":"Fast visual odometry and mapping from RGB-D data","year":"2013"},{"issue":"3","key":"key2020120705174909700_ref010","first-page":"99","article-title":"Simultaneous localization and mapping (Part II)","volume":"13","year":"2006","journal-title":"IEEE Robotics & Automation Magazine"},{"issue":"1","key":"key2020120705174909700_ref011","doi-asserted-by":"crossref","first-page":"177","DOI":"10.1109\/TRO.2013.2279412","article-title":"3-D mapping with an RGB-D camera","volume":"30","year":"2014","journal-title":"IEEE Transactions on Robotics"},{"key":"key2020120705174909700_ref012","first-page":"2492","article-title":"Stereo vision-based localization for hexapod walking robots operating in rough terrains","year":"2016"},{"issue":"4","key":"key2020120705174909700_ref013","doi-asserted-by":"crossref","first-page":"31","DOI":"10.1109\/MITS.2010.939925","article-title":"A tutorial on graph-based SLAM","volume":"2","year":"2010","journal-title":"IEEE Intelligent Transportation Systems Magazine"},{"key":"key2020120705174909700_ref014","first-page":"2100","article-title":"Dense visual SLAM for RGB-D cameras","year":"2013"},{"key":"key2020120705174909700_ref015","first-page":"225","article-title":"Parallel tracking and mapping for small AR workspaces","volume-title":"Proceeding of International Symposium on Mixed and Augmented Reality","year":"2007"},{"issue":"3-4","key":"key2020120705174909700_ref016","doi-asserted-by":"crossref","first-page":"539","DOI":"10.1007\/s10846-014-0041-x","article-title":"A practical multirobot localization system","volume":"76","year":"2014","journal-title":"Journal of Intelligent and Robotic Systems"},{"key":"key2020120705174909700_ref017","first-page":"3607","article-title":"g2o: a general framework for graph optimisation","year":"2011"},{"key":"key2020120705174909700_ref018","first-page":"240","article-title":"Tactile sensing with servo drives feedback only for blind hexapod walking robot","volume-title":"Proceeding of 10th International Workshop on Robot Motion and Control (RoMoCo)","year":"2015"},{"key":"key2020120705174909700_ref019","article-title":"ORB-SLAM2: an open-source SLAM system for monocular, stereo and RGB-D cameras","year":"2016","journal-title":"arXiv preprint"},{"issue":"2","key":"key2020120705174909700_ref020","doi-asserted-by":"crossref","first-page":"796","DOI":"10.1109\/LRA.2017.2653359","article-title":"Visual-inertial monocular SLAM with map reuse","volume":"2","year":"2017","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"5","key":"key2020120705174909700_ref021","doi-asserted-by":"crossref","first-page":"1147","DOI":"10.1109\/TRO.2015.2463671","article-title":"ORB-SLAM: a versatile and accurate monocular SLAM system","volume":"31","year":"2015","journal-title":"IEEE Transactions on Robotics"},{"key":"key2020120705174909700_ref022","first-page":"1373","article-title":"Stereo parallel tracking and mapping for robot localization","year":"2015"},{"key":"key2020120705174909700_ref023","first-page":"12","article-title":"Localisation of a six-legged walking robot in rough terrain by ToF-odometry","volume-title":"Proceeding of IARP Robotics for Risky Interventions and Environmental Surveillance (RISE)","year":"2009"},{"key":"key2020120705174909700_ref024","first-page":"1062","article-title":"Efficient onboard RGBD-SLAM for autonomous MAVs","year":"2013"},{"key":"key2020120705174909700_ref025","first-page":"260","article-title":"The visual SLAM system for a hexapod robot","volume-title":"Computer Vision and Graphics, LNCS 6375","year":"2010"},{"issue":"1","key":"key2020120705174909700_ref026","first-page":"11","article-title":"Comparative assessment of point feature detectors and descriptors in the context of robot navigation","volume":"7","year":"2013","journal-title":"Journal of Automation, Mobile Robotics & Intelligent Systems"},{"issue":"83","key":"key2020120705174909700_ref027","article-title":"Calibration of the multi-camera registration system for visual navigation benchmarking","volume":"11","year":"2014","journal-title":"International Journal of Advanced Robotic System"},{"issue":"3","key":"key2020120705174909700_ref028","doi-asserted-by":"crossref","first-page":"242","DOI":"10.1108\/01439911211217062","article-title":"Laser scan matching for self-localization of a walking robot in man-made environments","volume":"39","year":"2012","journal-title":"Industrial Robot: An International Journal"},{"issue":"4","key":"key2020120705174909700_ref029","doi-asserted-by":"crossref","first-page":"381","DOI":"10.1177\/0278364911435161","article-title":"Stereo-vision-based navigation of a six-legged walking robot in unknown rough terrain","volume":"31","year":"2012","journal-title":"International Journal of Robotics Research"},{"issue":"2","key":"key2020120705174909700_ref030","doi-asserted-by":"crossref","first-page":"65","DOI":"10.1016\/j.imavis.2012.02.009","article-title":"Visual SLAM: why filter?","volume":"30","year":"2012","journal-title":"Image and Vision Computing"},{"key":"key2020120705174909700_ref031","first-page":"573","article-title":"A benchmark for the evaluation of RGB-D SLAM systems","year":"2012"},{"key":"key2020120705174909700_ref032","first-page":"298","article-title":"Bundle adjustment \u2013 a modern synthesis","volume-title":"Vision Algorithms: Theory and Practice, LNCS 1883","year":"2000"},{"issue":"4","key":"key2020120705174909700_ref033","doi-asserted-by":"crossref","first-page":"376","DOI":"10.1109\/34.88573","article-title":"Least-squares estimation of transformation parameters between two point patterns","volume":"13","year":"1991","journal-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence"},{"issue":"4\/5","key":"key2020120705174909700_ref034","first-page":"598","article-title":"Realtime large-scale dense RGB-D SLAM with volumetric fusion","volume":"34","year":"2015","journal-title":"Inernational Journal of Robotics Research"}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-11-2016-0340\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-11-2016-0340\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:40:21Z","timestamp":1753393221000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/44\/4\/428-441\/180475"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,6,19]]},"references-count":34,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2017,6,19]]}},"alternative-id":["10.1108\/IR-11-2016-0340"],"URL":"https:\/\/doi.org\/10.1108\/ir-11-2016-0340","relation":{},"ISSN":["0143-991X"],"issn-type":[{"value":"0143-991X","type":"print"}],"subject":[],"published":{"date-parts":[[2017,6,19]]}}}