Online environment reconstruction for biped navigation
Online environment reconstruction for biped navigation
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DOI：
10.1109/robot.2006.1642171
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发表时间：
2006-05
期刊：
影响因子：
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通讯作者：
P. Michel;Joel E. Chestnutt;S. Kagami;K. Nishiwaki;J. Kuffner;T. Kanade
中科院分区：
文献类型：
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作者：
P. Michel;Joel E. Chestnutt;S. Kagami;K. Nishiwaki;J. Kuffner;T. Kanade
随着导航自主成为双足仿人机器人日益重要的研究课题，需要适合仿人机器人及其典型工作环境特点的高效感知和映射方法。本文提出了一种在线环境重建系统，该系统既利用外部传感器进行全局定位，又利用车载传感器进行详细的局部映射。外部光学运动捕获系统用于精确定位车载传感器，该传感器集成了校准相机的连续2D视图和SwissRanger SR-2飞行时间传感器的距离测量，以实时构建全球环境地图。环境障碍物几何形状编码在2D占用网格和2.5D高度图中，用于导航规划。我们提出了一种hrp-2仿人机器人的在体实现，它与足迹规划器相结合，使机器人能够自主穿越包含不可预测的移动障碍物的动态环境。
As navigation autonomy becomes an increasingly important research topic for biped humanoid robots, efficient approaches to perception and mapping that are suited to the unique characteristics of humanoids and their typical operating environments are required. This paper presents a system for online environment reconstruction that utilizes both external sensors for global localization, and on-body sensors for detailed local mapping. An external optical motion capture system is used to accurately localize on-board sensors that integrate successive 2D views of a calibrated camera and range measurements from a SwissRanger SR-2 time-of-flight sensor to construct global environment maps in real-time. Environment obstacle geometry is encoded in 2D occupancy grids and 2.5D height maps for navigation planning. We present an on-body implementation for the HRP-2 humanoid robot that, combined with a footstep planner, enables the robot to autonomously traverse dynamic environments containing unpredictably moving obstacles