Nao Robot Localization and Navigation Using Fusion of Odometry and Visual Sensor Data
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F12%3A00204508" target="_blank" >RIV/68407700:21230/12:00204508 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1007/978-3-642-33515-0_43" target="_blank" >http://dx.doi.org/10.1007/978-3-642-33515-0_43</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-642-33515-0_43" target="_blank" >10.1007/978-3-642-33515-0_43</a>
Alternative languages
Result language
angličtina
Original language name
Nao Robot Localization and Navigation Using Fusion of Odometry and Visual Sensor Data
Original language description
Nao humanoid robot from Aldebaran Robotics is equipped with an odometry sensor providing rather inaccurate robot pose estimates. We propose using Structure from Motion (SfM) to enable visual odometry from Nao camera without the necessity to add artificial markers to the scene and show that the robot pose estimates can be significantly improved by fusing the data from the odometry sensor and visual odometry. The implementation consists of the sensor modules streaming robot data, the mapping module creating a 3D model, the visual localization module estimating camera pose w.r.t. the model, and the navigation module planning robot trajectories and performing the actual movement. All of the modules are connected through the RSB middleware, which makes thesolution independent on the given robot type.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
<a href="/en/project/7E10047" target="_blank" >7E10047: Humanoids with auditory and visual abilities in populated spaces</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2012
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Intelligent Robotics and Applications, 5th International Conference, ICIRA 2012, Part II
ISBN
978-3-642-33514-3
ISSN
0302-9743
e-ISSN
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Number of pages
12
Pages from-to
427-438
Publisher name
Springer
Place of publication
Berlin
Event location
Montreal
Event date
Oct 3, 2012
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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