Perception and Navigation in Unknown Environments: The DARPA Robotics Challenge

Autor:	Roberto Arroyo, Noelia Hernández, Luis M. Bergasa, Andrés Cela, Ángel Llamazares, Eduardo J. Molinos, J. Javier Yebes, Manuel Ocaña
Rok vydání:	2014
Předmět:	business.industry Computer science media_common.quotation_subject ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Robotics Inertial measurement unit Perception Robot Computer vision Artificial intelligence business Humanoid robot Stereo camera media_common
Zdroj:	ROBOT2013: First Iberian Robotics Conference ISBN: 9783319036526 ROBOT (2)
DOI:	10.1007/978-3-319-03653-3_24
Popis:	This paper presents different techniques to achieve the tasks proposed in the DARPA (Defense Advanced Research Projects Agency) VRC (Virtual Robotics Challenge), which entails the recognition of objects, the robot localization and the mapping of the simulated environments in the Challenge. Data acquisition relies on several sensors such as a stereo camera, a 2D laser, an IMU (Inertial Motion Unit) and stress sensors. Using the map and the position of the robot inside it, we propose a safe path planning to navigate through the environment using an Atlas humanoid robot.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::09e361a3e7cc7992d53045a04e43b9fa https://doi.org/10.1007/978-3-319-03653-3_24 Zobrazit plný text záznamu