Paper Info
Title
Real-time 3D simultaneous localization and map-building for a dynamic walking humanoid robot.
Abstract
In this paper, we develop an onboard real-time 3D visual simultaneous localization and mapping system for a dynamic walking humanoid robot. With the constraints of processing and real-time operation, the system uses a lightweight localization and mapping approach based around the well-known extended Kalman filter but that features a robust and real-time relocalization system able to allow loop-closing and robust localization in 6D. The robot is controlled by torque references at the joints using its dynamic properties. This results in more energy efficient motion but also in lager movement than the one found in a conventional ZMP-based humanoid which carefully maintains the position of the center of mass on the plane. These more agile motions pose challenges for a visual mapping system having to operate in real time. The developed system features a combination of stereo camera, robust visual descriptors, and motion model switching to compensate for the larger motion and uncertainty. We provide practical implementation details of the system and methods, and test on the real humanoid robot. We compare our results with motion obtained with a motion capture system.
Year
DOI
Venue
2013
10.1080/01691864.2013.785379
ADVANCED ROBOTICS
Keywords
Field
DocType
SLAM,dynamic walking,humanoid
Computer vision,Stereo camera,Extended Kalman filter,Torque,Efficient energy use,Control theory,Artificial intelligence,Engineering,Robot,Simultaneous localization and mapping,Center of mass,Humanoid robot
Journal
Volume
Issue
ISSN
27
10
0169-1864
Citations 
PageRank 
References 
5
0.47
19
Authors
9
Name
Order
Citations
PageRank
Sukjune Yoon1404.43
Seungyong Hyung2192.92
Minhyung Lee3203.95
Kyung Shik Roh4496.16
Sunghwan Ahn5716.15
Andrew P. Gee61398.80
Pished Bunnun7734.74
Andrew Calway864554.66
Walterio W. Mayol-cuevas949748.81