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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

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

    JD - Use of computers, robotics and its application

  • OECD FORD branch

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

  • 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