humanoid-slam - Real-time 3D SLAM for Humanoid Robot...

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Real-time 3D SLAM for Humanoid Robot considering Pattern Generator Information Olivier Stasse , Andrew J. Davison , Ramzi Sellaouti and Kazuhito Yokoi JRL, CNRS/AIST, ISRI National Institute of Advanced Industrial and Science Technology AIST Central 2, Umezono 1-1-1, Tsukuba, Ibaraki, Japan 302-8568 Email: { olivier.stasse,ramzi.sellouati,kazuhito.yokoi } @aist.go.jp Department of Computing Imperial College London 180 Queen’s Gate South Kensington Campus SW7 2AZ, UK Email: ajd@doc.ic.ac.uk Abstract — Humanoid robotics and SLAM (Simultaneous Lo- calisation and Mapping) are certainly two of the most signiFcant themes of the current worldwide robotics research effort, but the two Felds have up until now largely run independent parallel paths, despite the obvious beneFt to be gained in joining the two. The next major step forward in humanoid robotics will be increased autonomy, and the ability of a robot to create its own world map on the ±y will be a signiFcant enabling technology. Meanwhile, SLAM techniques have found most success with robot platforms and sensor conFgurations which are outside of the humanoid domain. Humanoid robots move with high linear and angular accelerations in full 3D, and normally only vision is available as an outward-looking sensor. Building on recently published work on monocular SLAM using vision, and on pattern generation, we show that real-time SLAM for a humanoid can indeed be achieved. Using HRP-2, we present results in which a sparse 3D map of visual landmarks is acquired on the ±y using a single camera and demonstrated loop closing and drift-free 3D motion estimation within a typical cluttered indoor environment. This is achieved by tightly coupling the pattern generator, the robot odometry and inertial sensing to aid visual mapping within a standard EK² framework. To our knowledge this is the Frst implementation of real-time 3D SLAM for a humanoid robot able to demonstrate loop closing. I. INTRODUCTION The long term target of our humanoid research is to improve the capabilities of humanoid robot in order to perform a larger set of tasks in normal environments. To date, this has been achieved by mixing autonomous behaviors and human tele- operation, such demonstrated during the EXPO 2005 AICHI JAPAN universal exposition [1]. In this demonstration, the robot was able to precisely detect and grasp a can, throw it in the garbage, take a bag, and put it on a table. The can, the garbage and the table are detected using a model based approach and thus the robot knows its own location only in the object reference frame. In order to increase the capabilities of the robot, in this paper we describe a SLAM algorithm for self-localization which has the capability to permit global motion estimation and environment interaction autonomously . This is an application of SLAM which differs somewhat from standard SLAM systems for exploring robots.
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This note was uploaded on 08/03/2010 for the course MECHANIC 65921 taught by Professor Jons during the Spring '10 term at Tampa.

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humanoid-slam - Real-time 3D SLAM for Humanoid Robot...

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