Kohlbrecher, Stefan ; Stumpf, Alexander ; Stryk, Oskar von ; Stryk, Oskar von (2011)
Grid-Based Occupancy Mapping and Automatic Gaze Control for Soccer Playing Humanoid Robots.
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
With advances in walking abilities of autonomous soccer playing humanoid robots, the world modeling and state estimation problem moves into focus, as only sufficiently accurate and robust modeling allows to leverage improved locomotion capabilities. A novel approach for dense grid-based obstacle mapping in dynamic environments with an additional application for automatic gaze control is presented in this paper. It is applicable for soccer playing humanoid robots with external sensing limited to human-like vision and strongly limited onboard computing abilities. The proposed approach allows fusion of information from different sources and efficiently provides a single consistent and robust world state estimate despite strong robot hardware limitations.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2011 |
| Autor(en): | Kohlbrecher, Stefan ; Stumpf, Alexander ; Stryk, Oskar von ; Stryk, Oskar von |
| Art des Eintrags: | Bibliographie |
| Titel: | Grid-Based Occupancy Mapping and Automatic Gaze Control for Soccer Playing Humanoid Robots |
| Sprache: | Englisch |
| Publikationsjahr: | Oktober 2011 |
| Buchtitel: | Proc. 6th Workshop on Humanoid Soccer Robots at the 2011 IEEE-RAS Int. Conf. on Humanoid Robots |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | With advances in walking abilities of autonomous soccer playing humanoid robots, the world modeling and state estimation problem moves into focus, as only sufficiently accurate and robust modeling allows to leverage improved locomotion capabilities. A novel approach for dense grid-based obstacle mapping in dynamic environments with an additional application for automatic gaze control is presented in this paper. It is applicable for soccer playing humanoid robots with external sensing limited to human-like vision and strongly limited onboard computing abilities. The proposed approach allows fusion of information from different sources and efficiently provides a single consistent and robust world state estimate despite strong robot hardware limitations. |
| Freie Schlagworte: | World Modeling, RoboCup, Probabilistic Robotics, State Estimation |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 20 Jun 2016 23:26 |
| Letzte Änderung: | 15 Mär 2019 09:58 |
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