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Vision-based 2.5D terrain modeling for humanoid locomotion
2003 / IEEE / 0-7803-7736-2
This item was taken from the IEEE Conference ' Vision-based 2.5D terrain modeling for humanoid locomotion ' 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.
Vision Based 2.5d Terrain Modeling
Online Terrain Modeling System
3d Depth Map
Stereo Camera Images
Correlation Based Localisation
Planar Walking Surfaces
Online Footstep Planning System
Intelligent Humanoid Robotics
Humanoid Robot H7
Robot Vision Systems
Robot Sensing Systems
Stereo Image Processing
2.5d Probabilistic Description