Original scientific paper

Vision-Guided Walking in a Structured Indoor Scenario

Robert Cupec
Günther Schmidt
Oliver Lorch

Abstract

Locomotion of a biped robot in a scenario with obstacles requires a high degree of coordination between perception and walking. This article presents key ideas of a vision-based strategy for guidance of walking robots in structured scenarios. Computer vision techniques are employed for reactive adaptation of step sequences allowing a robot to step over or upon or walk around obstacles. Highly accurate feedback information is achieved by a combination of line-based scene analysis and real-time feature tracking. The proposed vision-based approach was evaluated by experiments with a real humanoid robot.

Keywords

biped walking robots; humanoid robots; computer vision; structured environment; real-time feature tracking

Hrčak ID:

6841

URI

https://hrcak.srce.hr/6841

Publication date:

21.12.2005.

Article data in other languages: croatian

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