Vision-based 2.5D terrain modeling for humanoid locomotion

被引：20
|
作者：
Kagami, S
Nishiwaki, K
Kuffner, JJ
Okada, K
Inaba, M
Inoue, H
机构：
[1] Natl Inst Adv Sci & Technol, Digital Human Lab, Kouto Ku, Tokyo 1350064, Japan
[2] Univ Tokyo, Sch Informat Sci & Technol, Dept Mechanoinformat, Bunkyo Ku, Tokyo 1138656, Japan
[3] Carnegie Mellon Univ, Sch Comp Sci, Pittsburgh, PA 15213 USA
来源：
2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS | 2003年
关键词：
D O I：
10.1109/ROBOT.2003.1241910
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
We present an integrated humanoid locomotion and online terrain modeling system using stereo vision. From a 3D depthmap, a 2.5D probablistic description of the nearby terrain is generated. The depthmap is calculated from a pair of stereo camera images, correlation-based localization is performed, and candidate planar walking surfaces are extracted. The results are used to update a probabilistic map of the terrain, which is input to an online footstep planning system. Experimental results are shown using the humanoid robot H7, which was designed as a research Platform for intelligent humanoid robotics.
引用
收藏
页码：2141 / 2146
页数：6
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