NDLI: On-board odometry estimation for 3D vision-based SLAM of humanoid robot

Content Provider	IEEE Xplore Digital Library
Author	SungHwan Ahn Sukjune Yoon Seungyong Hyung Nosan Kwak Kyung Shik Roh
Copyright Year	2012
Description	Author affiliation: Samsung Advanced Institute of Technology (SAIT), Samsung Electronics Co., LTD., Giheung, 446-712, Korea (SungHwan Ahn; Sukjune Yoon; Seungyong Hyung; Nosan Kwak; Kyung Shik Roh)
Abstract	This paper addresses a vision-based 3D motion estimation framework for humanoid robots, which copes with human-like walking pattern. A humanoid robot, called Roboray, is designed for dynamic walking control with heel-toe motion like a human. In spite of stability and energy efficiency of the dynamic walking, it accompanies larger swaying motion and more uncertainty in camera movement than the conventional ZMP (Zero Moment Point)-based walking does. The framework effectively uses on-board odometry information from the robot to improve the performance of the visionbased motion estimation. To accomplish this, we propose an onboard odometry filter which fuses kinematic odometry, visual odometry, and raw IMU data. And the odometry filter is combined with vision-based SLAM to provide accurate motion model, so it enhances the SLAM estimates. Experimental results in indoor environment verify that the framework can successfully estimate the pose of Roboray in real-time.
Starting Page	4006
Ending Page	4012
File Size	2090760
Page Count	7
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385743
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Simultaneous localization and mapping Cameras Kinematics Visualization Humanoid robots
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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