Precise self-localization of a walking robot on rough terrain using parallel tracking and mapping

Purpose - The purpose of this paper is to describe a novel application of the recently introduced concept from computer vision to self-localization of a walking robot in unstructured environments. The technique described in this paper enables a walking robot with a monocular vision system (single ca...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:Industrial robot Jg. 40; H. 3; S. 229 - 237
Hauptverfasser: Belter, Dominik, Skrzypczynski, Piotr
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Bedford Emerald Group Publishing Limited 01.01.2013
Schlagworte:
Algorithms
Cameras
Estimates
Experiments
Lasers
Localization
Mapping
Planning
Robotics
Robots
Rough terrain
Scanners
Studies
Tracking
Walking
Motion
Structure from motion
Feature tracking
Monocular vision
Self-localization
Walking robot
Robots
Programming and algorithm theory
ISSN:0143-991X, 1758-5791
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Abstract Purpose - The purpose of this paper is to describe a novel application of the recently introduced concept from computer vision to self-localization of a walking robot in unstructured environments. The technique described in this paper enables a walking robot with a monocular vision system (single camera) to obtain precise estimates of its pose with regard to the six degrees of freedom. This capability is essential in search and rescue missions in collapsed buildings, polluted industrial plants, etc.Design methodology approach - The Parallel Tracking and Mapping (PTAM) algorithm and the Inertial Measurement Unit (IMU) are used to determine the 6-d.o.f. pose of a walking robot. Bundle-adjustment-based tracking and structure reconstruction are applied to obtain precise camera poses from the monocular vision data. The inclination of the robot's platform is determined by using IMU. The self-localization system is used together with the RRT-based motion planner, which allows to walk autonomously on rough, previously unknown terrain. The presented system operates on-line on the real hexapod robot. Efficiency and precision of the proposed solution are demonstrated by experimental data.Findings - The PTAM-based self-localization system enables the robot to walk autonomously on rough terrain. The software operates on-line and can be implemented on the robot's on-board PC. Results of the experiments show that the position error is small enough to allow robust elevation mapping using the laser scanner. In spite of the unavoidable feet slippages, the walking robot which uses PTAM for self-localization can precisely estimate its position and successfully recover from motion execution errors.Research limitations implications - So far the presented self-localization system was tested in limited-scale indoor experiments. Experiments with more realistic outdoor scenarios are scheduled as further work.Practical implications - Precise self-localization may be one of the most important factors enabling the use of walking robots in practical USAR missions. The results of research on precise self-localization in 6-d.o.f. may be also useful for autonomous robots in other application areas: construction, agriculture, military.Originality value - The vision-based self-localization algorithm used in the presented research is not new, but the contribution lies in its implementation integration on a walking robot, and experimental evaluation in the demanding problem of precise self-localization in rough terrain.
AbstractList Purpose - The purpose of this paper is to describe a novel application of the recently introduced concept from computer vision to self-localization of a walking robot in unstructured environments. The technique described in this paper enables a walking robot with a monocular vision system (single camera) to obtain precise estimates of its pose with regard to the six degrees of freedom. This capability is essential in search and rescue missions in collapsed buildings, polluted industrial plants, etc. Design/methodology/approach - The Parallel Tracking and Mapping (PTAM) algorithm and the Inertial Measurement Unit (IMU) are used to determine the 6-d.o.f. pose of a walking robot. Bundle-adjustment-based tracking and structure reconstruction are applied to obtain precise camera poses from the monocular vision data. The inclination of the robot's platform is determined by using IMU. The self-localization system is used together with the RRT-based motion planner, which allows to walk autonomously on rough, previously unknown terrain. The presented system operates on-line on the real hexapod robot. Efficiency and precision of the proposed solution are demonstrated by experimental data. Findings - The PTAM-based self-localization system enables the robot to walk autonomously on rough terrain. The software operates on-line and can be implemented on the robot's on-board PC. Results of the experiments show that the position error is small enough to allow robust elevation mapping using the laser scanner. In spite of the unavoidable feet slippages, the walking robot which uses PTAM for self-localization can precisely estimate its position and successfully recover from motion execution errors. Research limitations/implications - So far the presented self-localization system was tested in limited-scale indoor experiments. Experiments with more realistic outdoor scenarios are scheduled as further work. Practical implications - Precise self-localization may be one of the most important factors enabling the use of walking robots in practical USAR missions. The results of research on precise self-localization in 6-d.o.f. may be also useful for autonomous robots in other application areas: construction, agriculture, military. Originality/value - The vision-based self-localization algorithm used in the presented research is not new, but the contribution lies in its implementation/integration on a walking robot, and experimental evaluation in the demanding problem of precise self-localization in rough terrain.
Author Skrzypczynski, Piotr
Belter, Dominik
Author_xml – sequence: 1
  givenname: Dominik
  surname: Belter
  fullname: Belter, Dominik
  organization: Institute of Control and Information Engineering, Poznan University of Technology, Poznan, Poland
– sequence: 2
  givenname: Piotr
  surname: Skrzypczynski
  fullname: Skrzypczynski, Piotr
  organization: Institute of Control and Information Engineering, Poznan University of Technology, Poznan, Poland
BookMark eNp9kE1LHTEUhkNR6PXjB3QXcOPC0ZObj5ksi2hbEOxCwd1wZu6Jjc2djMkMYn99c72lC62FQMI5z5OcvHtsZ4gDMfZJwKkQ0JyBUNJaIWRZYO1SfWALUeum0rUVO2yx6VcFuPvI9nJ-AABthFkw_J6o95l4puCqEHsM_hdOPg48Oo78CcNPP9zzFLs48VJNcb7_wSdKCf3A57xpjpgwBAp8Sti_4Dis-BrHsZwP2K7DkOnwz77Pbi8vbs6_VlfXX76df76qetmoqSKrFUrlyKGGDiR1VNtOKAF1raXqFDTaWTCklsY4ixZr6gz0tZRLodVK7rPj7b1jio8z5ald-9xTCDhQnHMrtLZGmSXIgh69Qh_inIYyXSukVrJpwJhC1VuqTzHnRK7t_fQSTfmmD62AdhN9-yb6YopX5pj8GtPzf52TrUNrKmmu_ipv0HZcuYLDv_H3X_gNPduh9Q
CODEN IDRBAT
CitedBy_id crossref_primary_10_1088_1748_3190_ac92b3
crossref_primary_10_1108_IJIUS_04_2014_0003
crossref_primary_10_1016_j_micpro_2015_10_008
crossref_primary_10_1108_IR_11_2016_0340
crossref_primary_10_1002_rob_21610
crossref_primary_10_3390_s19204423
crossref_primary_10_3390_app131810038
crossref_primary_10_3390_s19235121
crossref_primary_10_1016_j_robot_2018_10_013
crossref_primary_10_3390_app12042140
crossref_primary_10_1007_s00138_018_0936_9
Cites_doi 10.1109/ROBOT.2010.5509805
10.15607/RSS.2010.VI.010
10.1109/ISMAR.2007.4538852
10.1109/TRO.2008.2004636
10.1109/ROBOT.2000.844730
10.3182/20110828-6-IT-1002.02234
10.1007/11744023_34
10.1109/TRO.2008.2004637
10.1108/01439911211217062
10.1002/rob.20397
10.1109/ICRA.2011.5980317
10.1109/TPAMI.2007.1049
10.1109/IROS.2006.281645
10.1109/IROS.2012.6385548
10.1109/ROBOT.2010.5509636
10.1177/0278364911435161
10.1109/MRA.2006.1638022
10.1109/ISMAR.2009.5336495
10.2478/v10006-009-0045-z
ContentType Journal Article
Copyright Emerald Group Publishing Limited
Copyright Emerald Group Publishing Limited 2013
Copyright_xml – notice: Emerald Group Publishing Limited
– notice: Copyright Emerald Group Publishing Limited 2013
DBID AAYXX
CITATION
7SC
7SP
7TB
7WY
7WZ
7XB
8FD
8FE
8FG
ABJCF
AFKRA
ARAPS
AZQEC
BENPR
BEZIV
BGLVJ
CCPQU
DWQXO
F28
FR3
F~G
GNUQQ
GUQSH
HCIFZ
JQ2
K6~
K7-
L.-
L.0
L6V
L7M
L~C
L~D
M0C
M0N
M2O
M2P
M7S
MBDVC
P5Z
P62
PHGZM
PHGZT
PKEHL
PQBIZ
PQEST
PQGLB
PQQKQ
PQUKI
PRINS
PTHSS
Q9U
DOI 10.1108/01439911311309924
DatabaseName CrossRef
Computer and Information Systems Abstracts
Electronics & Communications Abstracts
Mechanical & Transportation Engineering Abstracts
ProQuest ABI/INFORM Collection
ABI/INFORM Global (PDF only)
ProQuest Central (purchase pre-March 2016)
Technology Research Database
ProQuest SciTech Collection
ProQuest Technology Collection
ProQuest Materials Science & Engineering Collection
ProQuest Central UK/Ireland
Advanced Technologies & Computer Science Collection
ProQuest Central Essentials
ProQuest Central
Business Premium Collection
Technology Collection
ProQuest One Community College
ProQuest Central
ANTE: Abstracts in New Technology & Engineering
Engineering Research Database
ABI/INFORM Global (Corporate)
ProQuest Central Student
Research Library Prep
SciTech Premium Collection
ProQuest Computer Science Collection
ProQuest Business Collection
Computer Science Database
ABI/INFORM Professional Advanced
ABI/INFORM Professional Standard
ProQuest Engineering Collection
Advanced Technologies Database with Aerospace
Computer and Information Systems Abstracts – Academic
Computer and Information Systems Abstracts Professional
ABI/INFORM Global
Computing Database
Research Library
Science Database (subscription)
Engineering Database (subscription)
Research Library (Corporate)
Advanced Technologies & Aerospace Database
ProQuest Advanced Technologies & Aerospace Collection
ProQuest Central Premium
ProQuest One Academic
ProQuest One Academic Middle East (New)
ProQuest One Business (OCUL)
ProQuest One Academic Eastern Edition (DO NOT USE)
ProQuest One Applied & Life Sciences
ProQuest One Academic (retired)
ProQuest One Academic UKI Edition
ProQuest Central China
Engineering Collection
ProQuest Central Basic
DatabaseTitle CrossRef
ABI/INFORM Global (Corporate)
ProQuest One Business
Research Library Prep
Computer Science Database
ProQuest Central Student
Technology Collection
Technology Research Database
Computer and Information Systems Abstracts – Academic
ProQuest One Academic Middle East (New)
Mechanical & Transportation Engineering Abstracts
ProQuest Advanced Technologies & Aerospace Collection
ProQuest Central Essentials
ProQuest Computer Science Collection
Computer and Information Systems Abstracts
SciTech Premium Collection
ProQuest One Community College
ProQuest Central China
ABI/INFORM Complete
ProQuest Central
ABI/INFORM Professional Advanced
ProQuest One Applied & Life Sciences
ProQuest Engineering Collection
ABI/INFORM Professional Standard
ProQuest Central Korea
ProQuest Research Library
ProQuest Central (New)
Advanced Technologies Database with Aerospace
Engineering Collection
ANTE: Abstracts in New Technology & Engineering
Advanced Technologies & Aerospace Collection
Business Premium Collection
ABI/INFORM Global
ProQuest Computing
Engineering Database
ProQuest Central Basic
ProQuest Science Journals
ProQuest One Academic Eastern Edition
Electronics & Communications Abstracts
ProQuest Technology Collection
ProQuest SciTech Collection
ProQuest Business Collection
Computer and Information Systems Abstracts Professional
Advanced Technologies & Aerospace Database
ProQuest One Academic UKI Edition
Materials Science & Engineering Collection
Engineering Research Database
ProQuest One Academic
ProQuest One Academic (New)
DatabaseTitleList Technology Research Database

ABI/INFORM Global (Corporate)
Database_xml – sequence: 1
  dbid: BENPR
  name: ProQuest Central
  url: https://www.proquest.com/central
  sourceTypes: Aggregation Database
DeliveryMethod fulltext_linktorsrc
EISSN 1758-5791
EndPage 237
ExternalDocumentID 2977795011
10_1108_01439911311309924
10.1108/01439911311309924
Genre Feature
GroupedDBID -~X
.DC
0R~
1WG
29I
3V.
4.4
490
5VS
70U
7WY
85S
8FE
8FG
8FW
8R4
8R5
9E0
AAGBP
AAIKC
AAMCF
AAMNW
AATHL
AAUDR
ABIJV
ABJCF
ABKQV
ABSDC
ACGFO
ACGFS
ACGOD
ACIWK
ACZLT
ADFRT
ADOMW
AEBZA
AFKRA
AFYHH
AJEBP
ALMA_UNASSIGNED_HOLDINGS
AODMV
ARAPS
ASMFL
AUCOK
AZQEC
BENPR
BEZIV
BGLVJ
BPHCQ
CCPQU
CS3
DWQXO
EBS
ECCUG
EJD
F5P
FNNZZ
GEI
GEL
GNUQQ
GQ.
GROUPED_ABI_INFORM_COMPLETE
GROUPED_ABI_INFORM_RESEARCH
GUQSH
H13
HCIFZ
HZ~
H~9
IJT
IPNFZ
J1Y
JI-
JL0
K6V
K6~
K7-
KBGRL
L6V
M0C
M0N
M2O
M2P
M42
M7S
O9-
P2P
P62
PQBIZ
PQQKQ
PRG
PROAC
PTHSS
Q2X
RIG
ROL
SBBZN
TN5
U5U
WH7
AAYXX
ABJNI
ABYQI
AEACZ
AFFHD
AHMHQ
CITATION
PHGZM
PHGZT
PQGLB
7SC
7SP
7TB
7XB
8FD
AFNTC
F28
FR3
JQ2
L.-
L.0
L7M
L~C
L~D
MBDVC
PKEHL
PQEST
PQUKI
PRINS
PUEGO
Q9U
ID FETCH-LOGICAL-c384t-e954a34fefa50b03ebe79b141077534b4085f906e4266f9a9a7eb60c7332154d3
IEDL.DBID 7WY
ISICitedReferencesCount 26
ISICitedReferencesURI http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000319533900007&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
ISSN 0143-991X
IngestDate Sun Nov 09 13:06:02 EST 2025
Sat Aug 23 12:48:29 EDT 2025
Sat Nov 29 07:39:05 EST 2025
Tue Nov 18 22:01:26 EST 2025
Thu Sep 26 11:23:26 EDT 2024
Wed Jul 31 14:17:44 EDT 2019
IsPeerReviewed true
IsScholarly true
Issue 3
Keywords Motion
Structure from motion
Feature tracking
Monocular vision
Self-localization
Walking robot
Robots
Programming and algorithm theory
Language English
License http://www.emeraldinsight.com/page/tdm
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-c384t-e954a34fefa50b03ebe79b141077534b4085f906e4266f9a9a7eb60c7332154d3
Notes SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 14
ObjectType-Article-2
content type line 23
PQID 1354388066
PQPubID 36873
PageCount 9
ParticipantIDs proquest_journals_1354388066
crossref_citationtrail_10_1108_01439911311309924
crossref_primary_10_1108_01439911311309924
proquest_miscellaneous_1559646203
emerald_primary_10_1108_01439911311309924
PublicationCentury 2000
PublicationDate 2013-01-01
PublicationDateYYYYMMDD 2013-01-01
PublicationDate_xml – month: 01
  year: 2013
  text: 2013-01-01
  day: 01
PublicationDecade 2010
PublicationPlace Bedford
PublicationPlace_xml – name: Bedford
PublicationTitle Industrial robot
PublicationYear 2013
Publisher Emerald Group Publishing Limited
Publisher_xml – name: Emerald Group Publishing Limited
References b10
b21
b20
b12
b23
b11
b22
b14
b13
b24
b16
b18
b17
b19
b1
b2
b3
b4
b5
b7
b8
b9
References_xml – ident: b7
  doi: 10.1109/ROBOT.2010.5509805
– ident: b22
  doi: 10.15607/RSS.2010.VI.010
– ident: b8
  doi: 10.1109/ISMAR.2007.4538852
– ident: b13
  doi: 10.1109/TRO.2008.2004636
– ident: b10
  doi: 10.1109/ROBOT.2000.844730
– ident: b2
  doi: 10.3182/20110828-6-IT-1002.02234
– ident: b14
  doi: 10.1007/11744023_34
– ident: b23
– ident: b12
  doi: 10.1109/TRO.2008.2004637
– ident: b17
  doi: 10.1108/01439911211217062
– ident: b1
  doi: 10.1002/rob.20397
– ident: b24
  doi: 10.1109/ICRA.2011.5980317
– ident: b4
  doi: 10.1109/TPAMI.2007.1049
– ident: b19
  doi: 10.1109/IROS.2006.281645
– ident: b3
  doi: 10.1109/IROS.2012.6385548
– ident: b21
  doi: 10.1109/ROBOT.2010.5509636
– ident: b18
– ident: b20
  doi: 10.1177/0278364911435161
– ident: b5
  doi: 10.1109/MRA.2006.1638022
– ident: b11
– ident: b9
  doi: 10.1109/ISMAR.2009.5336495
– ident: b16
  doi: 10.2478/v10006-009-0045-z
SSID ssj0005616
Score 2.0666776
Snippet Purpose - The purpose of this paper is to describe a novel application of the recently introduced concept from computer vision to self-localization of a...
SourceID proquest
crossref
emerald
SourceType Aggregation Database
Enrichment Source
Index Database
Publisher
StartPage 229
SubjectTerms Algorithms
Cameras
Estimates
Experiments
Lasers
Localization
Mapping
Planning
Robotics
Robots
Rough terrain
Scanners
Studies
Tracking
Walking
Title Precise self-localization of a walking robot on rough terrain using parallel tracking and mapping
URI https://www.emerald.com/insight/content/doi/10.1108/01439911311309924/full/html
https://www.proquest.com/docview/1354388066
https://www.proquest.com/docview/1559646203
Volume 40
WOSCitedRecordID wos000319533900007&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
journalDatabaseRights – providerCode: PRVPQU
  databaseName: ABI/INFORM Global
  customDbUrl:
  eissn: 1758-5791
  dateEnd: 20241214
  omitProxy: false
  ssIdentifier: ssj0005616
  issn: 0143-991X
  databaseCode: M0C
  dateStart: 20010501
  isFulltext: true
  titleUrlDefault: https://search.proquest.com/abiglobal
  providerName: ProQuest
– providerCode: PRVPQU
  databaseName: Advanced Technologies & Aerospace Database
  customDbUrl:
  eissn: 1758-5791
  dateEnd: 20241214
  omitProxy: false
  ssIdentifier: ssj0005616
  issn: 0143-991X
  databaseCode: P5Z
  dateStart: 20010501
  isFulltext: true
  titleUrlDefault: https://search.proquest.com/hightechjournals
  providerName: ProQuest
– providerCode: PRVPQU
  databaseName: Computer Science Database
  customDbUrl:
  eissn: 1758-5791
  dateEnd: 20241214
  omitProxy: false
  ssIdentifier: ssj0005616
  issn: 0143-991X
  databaseCode: K7-
  dateStart: 20010501
  isFulltext: true
  titleUrlDefault: http://search.proquest.com/compscijour
  providerName: ProQuest
– providerCode: PRVPQU
  databaseName: Engineering Database (subscription)
  customDbUrl:
  eissn: 1758-5791
  dateEnd: 20241214
  omitProxy: false
  ssIdentifier: ssj0005616
  issn: 0143-991X
  databaseCode: M7S
  dateStart: 20010501
  isFulltext: true
  titleUrlDefault: http://search.proquest.com
  providerName: ProQuest
– providerCode: PRVPQU
  databaseName: ProQuest ABI/INFORM Collection
  customDbUrl:
  eissn: 1758-5791
  dateEnd: 20241214
  omitProxy: false
  ssIdentifier: ssj0005616
  issn: 0143-991X
  databaseCode: 7WY
  dateStart: 20010501
  isFulltext: true
  titleUrlDefault: https://www.proquest.com/abicomplete
  providerName: ProQuest
– providerCode: PRVPQU
  databaseName: ProQuest Central
  customDbUrl:
  eissn: 1758-5791
  dateEnd: 20241214
  omitProxy: false
  ssIdentifier: ssj0005616
  issn: 0143-991X
  databaseCode: BENPR
  dateStart: 20010501
  isFulltext: true
  titleUrlDefault: https://www.proquest.com/central
  providerName: ProQuest
– providerCode: PRVPQU
  databaseName: Research Library
  customDbUrl:
  eissn: 1758-5791
  dateEnd: 20241214
  omitProxy: false
  ssIdentifier: ssj0005616
  issn: 0143-991X
  databaseCode: M2O
  dateStart: 20010501
  isFulltext: true
  titleUrlDefault: https://search.proquest.com/pqrl
  providerName: ProQuest
– providerCode: PRVPQU
  databaseName: Science Database (subscription)
  customDbUrl:
  eissn: 1758-5791
  dateEnd: 20241214
  omitProxy: false
  ssIdentifier: ssj0005616
  issn: 0143-991X
  databaseCode: M2P
  dateStart: 20010501
  isFulltext: true
  titleUrlDefault: https://search.proquest.com/sciencejournals
  providerName: ProQuest
link http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwpV1Nb9QwELWg5cCFUhXE0g-5Ej2AZOHETrw-IVq1QgK2UQGxcIkcx64qhWTZpPD3mXG9u2KR9sJlpMSTKMrYnhl7_B4hL4R2XNbSsEpZSFDy2rBx4iTLKqNq67hSNhwU_qAmk_F0qou44NbHssrFnBgm6rqzuEb-OhGZROCSPH8z-8mQNQp3VyOFxn2yDY46QwYD9fXbqsQjD9SnCGHHIA6axl3NwHyTYCCeINiMgCAplX_5pbXDuasJOnidi53__d7H5FGMN-nbuw6yS-65do-YAjEtekd713gW3Fk8jkk7Tw39bRpcQafzruoGCncDlw8FEyChBMVa-WuKoOFN4xo6zI0N6qat6Q-DgA_XT8iXi_PPZ-9Y5FpgVozlwJzOpBHSO28yXnEBtlW6wiJQBQmNrBAIzWueO_ToXhttkEyFWyUEBA2yFk_JVtu17hmhHKycyyq1Qmjps8Tw1IuxElUGDV4nI8IXf7q0EYgc-TCaMiQkyIq5bpwRebV8ZHaHwrFJ-SSab6n7j045q_2IvFzX2_DOg4WVyzjI-3Jl4hE5XjbD8MQ9F9O67hZ0IGPLZZ5y8XzzK_bJwzQwbeDqzgHZGua37pA8sL-Gm35-FPr1Edk-PZ8UV3D1XjGQH_kZyvQyyAKl-gSyyL7_AWsoAKE
linkProvider ProQuest
linkToHtml http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMw1V1Nj9MwEB0tCxJc-BAgCgsYiT2AZOHEjl0fEELAalct1R4WqbfgOPYKKSSlybLiT_Eb8bhJK4rU2x64xhMrjsczY4_nPYCXXDsmSmFooWzYoMjS0HHiBM0Ko0rrmFI2FgpP1Ww2ns_16R78Hmph8FrlYBOjoS4bi2fkbxKeCQQukfLd4gdF1ijMrg4UGiu1mLhfl2HL1r49-Rjm9zBNjz6dfTimPasAtXwsOup0JgwX3nmTsYLxMAqlC7zuqELoLgqE_PKaSYe-y2ujDdKGMKs4D-5RlDz0ew2uh4-RuKImim6ulMhItYqQeTTEXfM-ixqZdhIM_BMEt-EhKEvFX35wqxh44xCilzu687_9n7twu4-nyfvVArgHe66-D-YUMTtaR1pXeRrddV9uShpPDLk0FWYIyLIpmo6Ep5GriAQVQ8IMgrUA5wRB0avKVaRbGhvFTV2S7wYBLc4fwJcrGdVD2K-b2j0CwoIWS1GklnMtfJYYlno-VrzIQoPXyQjYMLO57YHWke-jyuOGC1k_t5VhBK_XryxWKCO7hA97dVnL_iOTL0o_glfbcjv6PBi0Ku-NWJtvVGoEL9bNwfxgTsnUrrkIMmFHKoVMGX-8u4vncPP47PM0n57MJk_gVhpZRfAk6wD2u-WFewo37M_uW7t8FtcUga9XraR_AOrFVBA
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Precise+self-localization+of+a+walking+robot+on+rough+terrain+using+parallel+tracking+and+mapping&rft.jtitle=Industrial+robot&rft.au=Belter%2C+Dominik&rft.au=Skrzypczynski%2C+Piotr&rft.date=2013-01-01&rft.pub=Emerald+Group+Publishing+Limited&rft.issn=0143-991X&rft.volume=40&rft.issue=3&rft.spage=229&rft.epage=237&rft_id=info:doi/10.1108%2F01439911311309924&rft.externalDBID=HAS_PDF&rft.externalDocID=10.1108%2F01439911311309924
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0143-991X&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0143-991X&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0143-991X&client=summon