This work proposes an algorithm for real-time navigation of a humanoid robot with a stereo vision but no other sensors. Using the algorithm, a robot can recognize its 3D environment by retrieving SIFT features from images, estimate its position through the Kalman filter, and plan its path to reach a destination avoiding obstacles. Our approach focuses on estimating the robot’s central walking path trajectory rather than its actual walking motion by using an approximate model. This strategy makes it possible to apply mobile robot localization approaches to humanoid robot localization. Simple collision free path planning and motion control enable the autonomous robot navigation. Experimental results demonstrate the feasibility of our approach.
Related publications
1.박지환, 조성호 (2010) 스테레오 비전을 이용한 실시간 인간형 로봇 궤적 추출 및 네비게이션, 한국정보과학회 논문지, 소프트웨어 및 응용, 제37권 8호. [PDF]
2. 박지환, 조성호 (2009) 스테레오 비전을 이용한 인간형 로봇 네비게이션, 정보과학회 인공지능 추계 학술대회 우수논문.
