NDLI: Localization for Legged Robot with Single Low-Resolution Camera using Genetic Algorithm

Content Provider	IEEE Xplore Digital Library
Author	Fung-ling Tong Meng, M.Q.-H.
Copyright Year	2007
Description	Author affiliation: Chinese Univ. of Hong Kong, Hong Kong (Fung-ling Tong; Meng, M.Q.-H.)
Abstract	Localization is an important area in autonomous robotics. Recently, many researchers focus on legged robot due to its ability to navigate on undulating terrain. Localization of legged robot is more difficult than that of wheeled robot in the following senses: 1) leg slippages are common during walking motion, which degrade the motion accuracy and 2) due to the oscillated walking motion of robot, sensor data are fluctuating that the degree of freedom (DOF) of legged robot is higher than that of wheeled robot. Among different kinds of sensors, single camera equipped on a legged robot is considered in this paper as camera is a low-cost and small sensor that is suitable for small-sized robot. The challenges of vision-based localization for legged robot include real-time processing, high dimensional movement, limited field of view and the lack of depth information in images. In this paper, a robust and flexible vision-based localization algorithm for legged robot using genetic algorithm (GA) is presented. The localization problem is modeled as a high dimensional optimization problem. Given a set of feature coordinates and their corresponding image points extracted from an image, position and orientation of the robot can be estimated from a single image by the proposed localization algorithm.
Starting Page	161
Ending Page	166
File Size	341578
Page Count	6
File Format	PDF
ISBN	1424410916
DOI	10.1109/ICITECHNOLOGY.2007.4290452
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-03-20
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion localization Navigation Robot vision systems Mobile robots Genetic algorithms Leg Degradation genetic algorithm Robot kinematics Cameras Robot sensing systems legged robot
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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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