Effects of Biped Humanoid Robot Walking Gaits on Sparse Visual Odometry Algorithms

Yukitoshi Minami Shiguematsu, Martim Brandao, Kenji Hashimoto, Atsuo Takanishi

研究成果: Conference contribution

抄録

Motivated by experiments showing that humans regulate their walking speed in order to improve localization performance, in this paper we explore the effects of walking gait on biped humanoid localization. We focus on step length as a proxy for speed and because of its ready applicability to current footstep planners, and we compare the performance of three different sparse visual odometry (VO) algorithms as a function of step length: a direct, a semi-direct and an indirect algorithm. The direct algorithm's performance decreased the longer the step lengths, which along with the analysis of inertial and force/torque data, point to a decrease in performance due to an increase of mechanical vibrations. The indirect algorithm's performance decreased in an opposite way, i.e., showing more errors with shorter step lengths, which we show to be due to the effects of drift over time. The semi-direct algorithm showed a performance in-between the previous two. These observations show that footstep planning could be used to improve the performance of VO algorithms in the future.

本文言語English
ホスト出版物のタイトル2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018
出版社IEEE Computer Society
ページ160-165
ページ数6
ISBN(電子版)9781538672839
DOI
出版ステータスPublished - 2019 1月 23
外部発表はい
イベント18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018 - Beijing, China
継続期間: 2018 11月 62018 11月 9

出版物シリーズ

名前IEEE-RAS International Conference on Humanoid Robots
2018-November
ISSN(印刷版)2164-0572
ISSN(電子版)2164-0580

Conference

Conference18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018
国/地域China
CityBeijing
Period18/11/618/11/9

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • ハードウェアとアーキテクチャ
  • 人間とコンピュータの相互作用
  • 電子工学および電気工学

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