Nao Robot Navigation Based on a Single VGA Camera

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F12%3A00200336" target="_blank" >RIV/68407700:21230/12:00200336 - isvavai.cz</a>

Výsledek na webu

—

DOI - Digital Object Identifier

—

Jazyk výsledku

angličtina

Název v původním jazyce

Nao Robot Navigation Based on a Single VGA Camera

Popis výsledku v původním jazyce

We introduce a localization and mapping approach suitable for a humanoid robot Nao. The proposed method is using data acquired from a single VGA camera, mounted on the head of the robot. It combines two different approaches together to create a detailedmap and accurately locate the robot. Firstly, we present a Simultaneous Localization and Mapping technique (SLAM) based on a sparse 3D point cloud reconstruction. Secondly, we investigate the possibilities of enriching the created map by the detection ofspecial markers. Moreover, we describe the options of using the special markers to directly navigate the robot. The main benefit of our method is in the fact we are using only basic equipment of the robot Nao (no extra devices are needed e.g. external cameras) and we do not need high number of special markers in the scene. We use them to specify the created map. Thus, the method will not fail when no marker is detected. The accuracy of our method is tested using a robotic simulation env

Název v anglickém jazyce

Nao Robot Navigation Based on a Single VGA Camera

Popis výsledku anglicky

We introduce a localization and mapping approach suitable for a humanoid robot Nao. The proposed method is using data acquired from a single VGA camera, mounted on the head of the robot. It combines two different approaches together to create a detailedmap and accurately locate the robot. Firstly, we present a Simultaneous Localization and Mapping technique (SLAM) based on a sparse 3D point cloud reconstruction. Secondly, we investigate the possibilities of enriching the created map by the detection ofspecial markers. Moreover, we describe the options of using the special markers to directly navigate the robot. The main benefit of our method is in the fact we are using only basic equipment of the robot Nao (no extra devices are needed e.g. external cameras) and we do not need high number of special markers in the scene. We use them to specify the created map. Thus, the method will not fail when no marker is detected. The accuracy of our method is tested using a robotic simulation env

Druh

D - Stať ve sborníku

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

—

Projekt

<a href="/cs/project/7E10047" target="_blank" >7E10047: Humanoids with auditory and visual abilities in populated spaces</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2012

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

CVWW 2012: Proceedings of the 17th Computer Vision Winter Workshop

ISBN

978-961-90901-6-9

ISSN

—

e-ISSN

—

Počet stran výsledku

8

Strana od-do

121-128

Název nakladatele

Slovenian Pattern Recognition Society

Místo vydání

Ljubljana

Místo konání akce

Mala Nedelja

Datum konání akce

1. 2. 2012

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

—