We present the application of the RGB-D sensor in the navigation system of a six-legged walking robot. The RGB-D sensor is used in the SLAM subsystem to estimate pose of the robot and to build dense environment model (elevation map). The paper presents the navigation system of the robot. The system includes SLAM subsystem, mapping module, motion planner and robot's controller. The results of the experiments on the real robot are provided. The influence of the localization system on the quality of the obtained elevation map is presented.

Motion planning:
[1] D. Belter, P. Łabęcki, P. Skrzypczyński, Adaptive Motion Planning for Autonomous Rough Terrain Traversal with a Walking Robot, Journal of Field Robotics
[2] D. Belter, Perception-based motion planning for a walking robot in rugged terrain, In Lecture Notes in Control and Information Sciences: Robot Motion and Control (K. Kozłowski, Ed.), pp. 127-136, Springer, Berlin 2011
[3] D. Belter, P. Łabęcki, P. Fankhauser, R. Siegwart, RGB-D terrain perception and dense mapping for legged robots, International Journal of Applied Mathematics and Computer Science, vol. 26(1), pp. 81-97, 2016
[4] D. Belter, M. Nowicki, P. Skrzypczyński, Accurate Map-Based RGB-D SLAM for Mobile Robots, Robot 2015: Second Iberian Robotics Conference, Vol. 418 of the series Advances in Intelligent Systems and Computing, pp. 533-545, 2015