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Paper Abstract and Keywords
Presentation 2012-02-18 10:30
Planning and Execution of Motion for a Biped Robot Equipped with a Stereo Camera System Using Visual SLAM
Satoshi Asai (Shizuoka Univ), Atsushi Yamashita (Univ. Tokyo), Totu Kaneko (Shizuoka Univ), Hajime Asama (Univ. Tokyo)
Abstract (in Japanese) (See Japanese page) 
(in English) An autonomous robot needs functions of environment recognition and motion planning when moving to a destination. In this paper, we propose a method to realize these functions for a biped robot which cannot accomplish self locating by odometry because of unstableness of its foot movement. In our method, the robot executes visual SLAM using images acquired with stereo camera, generates a 3-D grid map, and plans appropriate path and motions to the destination. Effectiveness of the proposed method was shown by experiment.
Keyword (in Japanese) (See Japanese page) 
(in English) Visual SLAM / Biped Robot / Stereo Camera / SIFT / / / /  
Reference Info. ITE Tech. Rep., vol. 36, no. 8, ME2012-3, pp. 9-12, Feb. 2012.
Paper # ME2012-3 
Date of Issue 2012-02-11 (ME) 
ISSN Print edition: ISSN 1342-6893  Online edition: ISSN 2424-1970
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Conference Information
Committee ME  
Conference Date 2012-02-18 - 2012-02-18 
Place (in Japanese) (See Japanese page) 
Place (in English) Kando Gakuin Univ. 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To ME 
Conference Code 2012-02-ME 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Planning and Execution of Motion for a Biped Robot Equipped with a Stereo Camera System Using Visual SLAM 
Sub Title (in English)  
Keyword(1) Visual SLAM  
Keyword(2) Biped Robot  
Keyword(3) Stereo Camera  
Keyword(4) SIFT  
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1st Author's Name Satoshi Asai  
1st Author's Affiliation Shizuoka University (Shizuoka Univ)
2nd Author's Name Atsushi Yamashita  
2nd Author's Affiliation The University of Tokyo (Univ. Tokyo)
3rd Author's Name Totu Kaneko  
3rd Author's Affiliation Shizuoka University (Shizuoka Univ)
4th Author's Name Hajime Asama  
4th Author's Affiliation The University of Tokyo (Univ. Tokyo)
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Speaker
Date Time 2012-02-18 10:30:00 
Presentation Time 15 
Registration for ME 
Paper # ITE-ME2012-3 
Volume (vol) ITE-36 
Number (no) no.8 
Page pp.9-12 
#Pages ITE-4 
Date of Issue ITE-ME-2012-02-11 


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