NDLI: Integration of real-time binocular stereo vision and whole body information for dynamic walking navigation of humanoid robot

Content Provider	IEEE Xplore Digital Library
Author	Okada, K. Inaba, M. Inoue, H.
Copyright Year	2003
Description	Author affiliation: Dept. of Mechano-Informatics, Univ. of Tokyo, Japan (Okada, K.; Inaba, M.; Inoue, H.)
Abstract	A method to segment a floor and an obstacle region from images is a fundamental function for robots in real world. This paper describes a floor detection method by integrating binocular stereo vision and whole body information, for walking direction control of a humanoid robot. We developed the humanoid robot navigation system using vision-based local floor map. The developed system consists of a map building stage and a walking direction control stage. In the map building stage, the system builds a local floor map around a robot by integrating floor region information from visual input and whole body posture information. Plane segment finder (PSF) algorithm, which is able to extract planner surface from 3D vision input, is utilized to segment a floor and an obstacle regions. Floor region segmentation from input images is represented in view coordinates, then the whole body posture information is utilized to transform from view coordinates to body coordinate to build a local floor map. In another stage, the system search for open space direction on the local floor map and control walking direction towards open space to avoid obstacles. Finally, walking navigation experiments based on floor detection using a life-size humanoid robot are shown.
Sponsorship	IEEE Ind. Electron. Soc. IEEE Robotics & Autom. Soc. Soc. Instrum. & Control Eng. Japan Robotics Soc. Japan
Starting Page	131
Ending Page	136
File Size	1014006
Page Count	6
File Format	PDF
ISBN	078037987X
DOI	10.1109/MFI-2003.2003.1232645
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-08-01
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Stereo vision Legged locomotion Navigation Humanoid robots Floors Image segmentation Surface fitting Robot kinematics Data mining Real time systems
Content Type	Text
Resource Type	Article

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