| 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 |
| Download PDF |
|
| 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) |
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| 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) |
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| Keyword(1) |
Visual SLAM |
| Keyword(2) |
Biped Robot |
| Keyword(3) |
Stereo Camera |
| Keyword(4) |
SIFT |
| Keyword(5) |
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| Keyword(6) |
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| Keyword(8) |
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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 |
Author-1 |
| Date Time |
2012-02-18 10:30:00 |
| Presentation Time |
15 minutes |
| Registration for |
ME |
| Paper # |
ME2012-3 |
| Volume (vol) |
vol.36 |
| Number (no) |
no.8 |
| Page |
pp.9-12 |
| #Pages |
4 |
| Date of Issue |
2012-02-11 (ME) |