Descending-stair detection, approach, and traversal with an autonomous tracked vehicle

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Volumn , Issue , 2010, Pages 5525-5531

  Hesch, Joel A ^a   Mariottini, Gian Luca ^b   Roumeliotis, Stergios I ^a  

^a University of Minnesota   (United States)

^b The University of Texas at Arlington   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DYNAMICAL MODEL; INERTIAL SENSING; MONOCULAR CAMERAS; REAL WORLD EXPERIMENT; REAL-TIME IMPLEMENTATIONS; TEXTURE ENERGY; VISION MODULES;

ALGORITHMS; CAMERAS; OPTICAL FLOWS; REAL TIME CONTROL; STAIRS; TRACKED VEHICLES; VELOCITY MEASUREMENT;

INTELLIGENT ROBOTS;

EID: 78651480033     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2010.5649411     Document Type: Conference Paper

References (16)

1. T. Brox, A. Bruhn, N. Papenberg, and J. Weickert, "High accuracy optical flow estimation based on a theory for warping," in Proc. of the European Conf. on Computer Vision, Prague, Czech Republic, May 11-14, 2004, pp. 25-36.
2. N. Molton, S. Se, M. Brady, D. Lee, and P. Probert, "Robotic sensing for the partially sighted," Robotics and Autonomous Systems, vol. 26, no. 2-3, pp. 185-201, Feb. 1999.
3. J. D. Martens and W. S. Newman, "Stabilization of a mobile robot climbing stairs," in Proc. of the IEEE Int. Conf. on Robotics and Automation, San Diego, CA, May 8-13, 1994, pp. 2501-2507.
4. G. Chen, M. Xie, Z. Xia, L. Sun, J. Ji, Z. Du, and W. Lei, "Fast and accurate humanoid robot navigation guided by stereovision," in Proc. of the IEEE Int. Conf. on Mechatronics and Automation, Changchun, China, Aug. 9-12, 2009, pp. 1910-1915.
5. G. Figliolini and M. Ceccarelli, "Climbing stairs with EP-WAR2 biped robot," in Proc. of the IEEE Int. Conf. on Robotics and Automation, Seoul, Korea, May 21-26, 2001, pp. 4116-4121.
6. A. I. Mourikis, N. Trawny, S. I. Roumeliotis, D. M. Helmick, and L. H. Matthies, "Autonomous stair climbing for tracked vehicles," Int. Journal of Robotics Research, vol. 26, no. 7, pp. 737-758, Jul. 2007.
7. Q.-H. Vu, B.-S. Kim, and J.-B. Song, "Autonomous stair climbing algorithm for a small four-tracked robot," in Proc. of the IEEE Int. Conf. on Control, Automation, and Systems, Seoul, Korea, Oct. 14-17, 2008, pp. 2356-2360.
8. S. Steplight, G. Egnal, S.-H. Jung, D. B. Walker, C. J. Taylor, and J. P. Ostrowski, "A mode-based sensor fusion approach to robotic stairclimbing," in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Takamatsu, Japan, Oct. 31-Nov. 5, 2000, pp. 1113-1118.
9. Y. Xiong and L. Matthies, "Vision-guided autonomous stair climbing," in Proc. of the IEEE Int. Conf. on Robotics and Automation, San Francisco, CA, Apr. 24-28, 2000, pp. 1842-1847.
10. D. M. Helmick, S. I. Roumeliotis, M. C. McHenry, and L. H. Matthies, "Multi-sensor, high speed autonomous stair climbing," in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Lausanne, Switzerland, Sep. 30-Oct. 5, 2002, pp. 733-742.
11. K. Laws, "Rapid texture identification," in Proc. of the SPIE Conf. on Image Processing for Missile Giudance, no. 238, San Diego, CA, Jul. 28-Aug. 1, 1980, pp. 376-380.
12. J. Loomis, "Looking down is looking up," Nature News and Views, vol. 414, pp. 155-156, 2001.
13. J. Malik and P. Perona, "Preattentive texture discrimination with early vision mechanisms," Journal of the Optical Society of America A, vol. 48, no. 2, pp. 75-90, 1990.
14. E. Davies, Machine Vision: Theory, Algorithms, Practicalities, M. Kaufman, Ed. Elsevier, 2005.
15. A. Saxena, S. Chung, and Y. A. Ng, "3D depth reconstruction from a single still image," Int. Journal of Computer Vision, vol. 76, no. 1, pp. 53-69, Jan. 2008.
16. F. M. Mirzaei and S. I. Roumeliotis, "A Kalman filter-based algorithm for IMU-camera calibration: Observability analysis and performance evaluation," IEEE Trans. on Robotics, vol. 24, no. 5, pp. 1143-1156, Oct. 2008.