Vision based persistent localization of a humanoid robot for locomotion tasks

Pablo A. Martínez; Mario Castelán; Gustavo Arechavaleta

International Journal of Applied Mathematics and Computer Science (2016)

  • Volume: 26, Issue: 3, page 669-682
  • ISSN: 1641-876X

Abstract

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Typical monocular localization schemes involve a search for matches between reprojected 3D world points and 2D image features in order to estimate the absolute scale transformation between the camera and the world. Successfully calculating such transformation implies the existence of a good number of 3D points uniformly distributed as reprojected pixels around the image plane. This paper presents a method to control the march of a humanoid robot towards directions that are favorable for visual based localization. To this end, orthogonal diagonalization is performed on the covariance matrices of both sets of 3D world points and their 2D image reprojections. Experiments with the NAO humanoid platform show that our method provides persistence of localization, as the robot tends to walk towards directions that are desirable for successful localization. Additional tests demonstrate how the proposed approach can be incorporated into a control scheme that considers reaching a target position.

How to cite

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Pablo A. Martínez, Mario Castelán, and Gustavo Arechavaleta. "Vision based persistent localization of a humanoid robot for locomotion tasks." International Journal of Applied Mathematics and Computer Science 26.3 (2016): 669-682. <http://eudml.org/doc/286727>.

@article{PabloA2016,
abstract = {Typical monocular localization schemes involve a search for matches between reprojected 3D world points and 2D image features in order to estimate the absolute scale transformation between the camera and the world. Successfully calculating such transformation implies the existence of a good number of 3D points uniformly distributed as reprojected pixels around the image plane. This paper presents a method to control the march of a humanoid robot towards directions that are favorable for visual based localization. To this end, orthogonal diagonalization is performed on the covariance matrices of both sets of 3D world points and their 2D image reprojections. Experiments with the NAO humanoid platform show that our method provides persistence of localization, as the robot tends to walk towards directions that are desirable for successful localization. Additional tests demonstrate how the proposed approach can be incorporated into a control scheme that considers reaching a target position.},
author = {Pablo A. Martínez, Mario Castelán, Gustavo Arechavaleta},
journal = {International Journal of Applied Mathematics and Computer Science},
keywords = {robot localization; monocular vision; humanoid locomotion},
language = {eng},
number = {3},
pages = {669-682},
title = {Vision based persistent localization of a humanoid robot for locomotion tasks},
url = {http://eudml.org/doc/286727},
volume = {26},
year = {2016},
}

TY - JOUR
AU - Pablo A. Martínez
AU - Mario Castelán
AU - Gustavo Arechavaleta
TI - Vision based persistent localization of a humanoid robot for locomotion tasks
JO - International Journal of Applied Mathematics and Computer Science
PY - 2016
VL - 26
IS - 3
SP - 669
EP - 682
AB - Typical monocular localization schemes involve a search for matches between reprojected 3D world points and 2D image features in order to estimate the absolute scale transformation between the camera and the world. Successfully calculating such transformation implies the existence of a good number of 3D points uniformly distributed as reprojected pixels around the image plane. This paper presents a method to control the march of a humanoid robot towards directions that are favorable for visual based localization. To this end, orthogonal diagonalization is performed on the covariance matrices of both sets of 3D world points and their 2D image reprojections. Experiments with the NAO humanoid platform show that our method provides persistence of localization, as the robot tends to walk towards directions that are desirable for successful localization. Additional tests demonstrate how the proposed approach can be incorporated into a control scheme that considers reaching a target position.
LA - eng
KW - robot localization; monocular vision; humanoid locomotion
UR - http://eudml.org/doc/286727
ER -

References

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