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Real-time Humanoid Robot Trajectory Estimation and Navigation with Stereo Vision  

Park, Ji-Hwan (한국과학기술원 전산학과)
Jo, Sung-Ho (한국과학기술원 전산학과)
Publication Information
Journal of KIISE:Software and Applications / v.37, no.8, 2010 , pp. 641-646 More about this Journal
Abstract
This paper presents algorithms for real-time navigation of a humanoid robot with a stereo vision but no other sensors. Using the algorithms, 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.
Keywords
Stereo vision navigation; Humanoid robot navigation; Kalman-filter based localization algorithm;
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