Integrating Walking and Vision to Increase Humanoid Autonomy
Integrating Walking and Vision to Increase Humanoid Autonomy
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DOI：
10.1142/s021984360800142x
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发表时间：
2008-06
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影响因子：
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通讯作者：
O. Stasse;François Saïdi;K. Yokoi;B. Verrelst;B. Vanderborght;A. Davison;N. Mansard;Claudia Esteves
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文献类型：
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作者：
O. Stasse;François Saïdi;K. Yokoi;B. Verrelst;B. Vanderborght;A. Davison;N. Mansard;Claudia Esteves
为了构建多功能的拟人系统，本文提出了一种将行走和视觉相结合的行为的实时实现，以实现通用的功能。这篇论文描述了如何通过将视觉和行走相结合来获得实时或高带宽的认知过程。我们的方法的中心点是使用适当的模型来降低搜索空间的复杂性。我们将描述在系统的不同模块中引入的模型以及它们之间的关系：行走模式、自我定位和地图构建、实时反应性视觉行为和规划。
Aiming at building versatile humanoid systems, we present in this paper the real-time implementation of behaviors which integrate walking and vision to achieve general functionalities. The paper describes how real-time — or high-bandwidth — cognitive processes can be obtained by combining vision with walking. The central point of our methodology is to use appropriate models to reduce the complexity of the search space. We will describe the models introduced in the different blocks of the system and their relationships: walking pattern, self-localization and map building, real-time reactive vision behaviors, and planning.