Vision-based 2.5D terrain modeling for humanoid locomotion
- 2 March 2004
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2 (10504729), 2141-2146 vol.2
- https://doi.org/10.1109/robot.2003.1241910
Abstract
We present an integrated humanoid locomotion and online terrain modeling system using stereo vision. From a 3D depth map, a 2.5D probabilistic description of the nearby terrain is generated. The depth map is calculated from a pair of stereo camera images, correlation-based localization is performed, and candidate planar walking surfaces are extracted. The results are used to update a probabilistic map of the terrain, which is input to an online footstep planning system. Experimental results are shown using the humanoid robot H7, which was designed as a research platform for intelligent humanoid robotics.Keywords
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