Humanoid robot localisation using stereo vision

Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots

Volumn 2005, Issue , 2005, Pages 19-25

  Thompson, Simon ^a   Kagami, Satoshi ^a  

^a NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

Author keywords

Humanoid; Localisation; Stereo vision

Indexed keywords

CAMERAS; CONFORMAL MAPPING; PARAMETER ESTIMATION; PROBLEM SOLVING; STEREO VISION;

HUMANOID; LOCALISATION; VIDEO SEQUENCES; WHEELED ROBOTS;

MOBILE ROBOTS;

EID: 33846580077     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICHR.2005.1573539     Document Type: Conference Paper

References (26)

1. Koichi Nishiwaki, Satoshi Kagami, James J. Kuffner, Masayuki Inaba, Hi-rochika Inoue, "Humanoid 'JSK-H7' : Research Platform for Autonomous Behavior and Whole Body Motion", Proceedings of the Third IARP International Workshop on Humanoid and Human Friendly Robotics, pp. 2-9., Dec., 2002
2. W. Burgard, D. Fox, D. Henning and T. Schmidt, "Estimating the absolute position of a mobile robot using position probability grids", Proceedings of National Conference on Artificial Intelligence (AAAI'96), 1996
3. Y. Matsumoto, M. Inaba and H. Inoue, "Memory-Based Navigation using Omni-View Sequence", International Conference of Field and Service Robotics, pp 184-191, 1997
4. M. O. Franz, B. Scholkopf, H. A. Mallot and H. H. Bulthoff, "Learning view graphs for robot navigation", Autonomous Robots, 5, pp 111-125, 1998
5. S. Thompson and A. Zelinsky, "Accurate Local Positioning using Visual Landmarks from a Panoramic Sensor", Proceedings of IEEE International Conference on Robotics and Automation, 2002
6. F. Dellaert, D. Fox, W. Burgard and S. Thrun, "Monte Carlo localization for mobile robots", Proceedings of 1999 International Conference on Robotics and Automation, 1999
7. J. Leonard and H. Durrant-Whyte, "Mobile robot localization by tracking geometric beacons", Robotics and Automation, 7, pp 376-382, 1991
8. S. Thrun, "Bayesian landmark learning for mobile robot localisation", Machine Learning, 33, 1998
9. P. Jensfelt, "Approaches to Mobile Robot Localization in Indoor Environments", Department of Signals, Sensors and Systems, Royal Institute of Technology, Sweden, 2001
10. A J Davison and D W Murray, "Mobile Robot Localization using Active Vision", Proc 5th European Conference on Computer Vision, II, pp 809-825, 1998
11. P. Elinas and J. Little, "sigmaMCL: Monte-Carlo Localization for Mobile Robots with Stereo Vision", Robotics: Science and Systems, 2005
12. Andrew J. Davison, "Real-Time Simultaneous Localisation and Mapping with a Single Camera", Proc. of the International Conference on Computer Vision 2003
13. D. Murray and J. Little, "Using Real-Time Stereo Vision for Mobile Robot Navigation", Autonomous Robots, 8, 2, pp 161-171, 2000
14. S. Thompson and S. Kagami, "Stereo Vision and Sonar Sensor Based View Registration for 2.5 Dimensional Map Generation", Proc. of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004
15. S. Thompson and S. Kagami, "Revising Stereo Vision Maps in Particle Filter Based SLAM using Localisation Confidence and Sample History", Proc. of the IEEE International Conference on Autonomous Robots and Agents, 2004
16. O. Lorch, J. Seara, K. Strobl, U. Hanebeck and G. Schmidt, "Perception Errors in Vision Guided Walking: Analysis, Modeling and Filtering", Proceedings of the IEEE International Conference on Robotics and Automation, 2002
17. J. F. Seara, K. H. Strobl, E. Martin, and G. Schmidt. Task-Oriented and Situation-Dependent Gaze Control for Vision Guided Humanoid Walking. Proceedings of the 3rd IEEE-RAS International Conference on Humanoid Robots 2003
18. S. Kagami, K. Nishiwaki, J. J. Kuffner, Y. Kuniyoshi, M. Inaba and H. Inoue, "Design and Implementation of Software Research Platform for Humanoid Robotics : H7", Proceedings of the 2001 IEEE-RAS International Conference on Humanoid Robots, pp 253-258, 10, 2001
19. S. Kagami, K. Okada, M. Inaba and H. Inoue, "Design and Implementation of Onbody Real-time Depthmap Generation System", IEEE International Conference on Robotics and Automation, pp 1441-1446", 2000
20. Koichi Nishiwaki, Satoshi Kagami, Yasuo Kuniyoshi, Masayuki Inaba and Hirochika Inoue, "Online Generation of Humanoid Walking Motion based on a Fast Generation Method of Motion Pattern that Follows Desired ZMP", Proceedings of the 2002 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, EPFL, Lausanne, Switzerland, pp 2684-2689, 2002
21. Ken'ichirou Nagasaka, Masayuki Inaba and Hirochika Inoue, "Stabilization of Dynamic Walk on a Humanoid Using Torso Position Compliance Control", Proceedings of 17th Annual Conference on Robotics Society of Japan, pp 1193-1194, 1999
22. Honda Co. Ltd., "Walking Control System for Legged Robot", Japan Patent Office (A) 5-305583, 1993
23. Honda Co. Ltd., "Walking Control System for Legged Robot", Japan Patent Office (A) 5-200682, 1993
24. Honda Co. Ltd., "Walking Pattern Generation System for Legged Robot", Japan Patent Office (A) 10-86080, 1998
25. Satoshi Kagami, Koichi Nishiwaki, Tomonobu Kitagawa, Tomomichi Sugihara, Masayuki Inaba and Hirochika Inoue, "A Fast Generation Method of a Dynamically Stable Humanoid Robot Trajectory with Enhanced ZMP Constraint", Proc. of IEEE International Conference on Humanoid Robotics (Humanoid2000), 2000
26. [26], K. Nishiwaki, S. Kagami, Y. Kuniyoshi, M. Inaba and H. Inoue, "Gyro Sensor based Compensation Method of Hip Joint Deformation for Stable Walking", JSME Annual Conference on Robotics and Mechatronics(ROBOMEC '02)", pp 1P1-E05, 2002