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Vision-based 2.5D terrain modeling for humanoid locomotion

By: Okada, K.; Kuffner, J.J.; Nishiwaki, K.; Kagami, S.; Inoue, H.; Inaba, M.;

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.