基于视觉的人形运动2.5D地形建模

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI:10.1109/ROBOT.2003.1241910

S. Kagami, K. Nishiwaki, J. Kuffner, K. Okada, M. Inaba, H. Inoue

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引用次数: 47

摘要

提出了一种基于立体视觉的集成人形运动和在线地形建模系统。从3D深度图中，生成附近地形的2.5D概率描述。从一对立体相机图像中计算深度图，进行相关定位，提取候选平面行走面。结果用于更新地形的概率地图，该地图输入到在线足迹规划系统。以仿人机器人H7作为智能仿人机器人的研究平台，给出了实验结果。

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Vision-based 2.5D terrain modeling for humanoid locomotion

We present an integrated humanoid locomotion and online terrain modeling system using stereo vision. From a 3D depth map, a 2.5D probabilistic description of the nearby terrain is generated. The depth map is calculated from a pair of stereo camera images, correlation-based localization is performed, and candidate planar walking surfaces are extracted. The results are used to update a probabilistic map of the terrain, which is input to an online footstep planning system. Experimental results are shown using the humanoid robot H7, which was designed as a research platform for intelligent humanoid robotics.

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来源期刊

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

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