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Grid-Based Occupancy Mapping and Automatic Gaze Control for Soccer Playing Humanoid Robots

Kohlbrecher, Stefan and Stumpf, Alexander and Stryk, Oskar von and Stryk, Oskar von (2011):
Grid-Based Occupancy Mapping and Automatic Gaze Control for Soccer Playing Humanoid Robots.
In: Proc. 6th Workshop on Humanoid Soccer Robots at the 2011 IEEE-RAS Int. Conf. on Humanoid Robots, [Conference or Workshop Item]

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.

Item Type: Conference or Workshop Item
Erschienen: 2011
Creators: Kohlbrecher, Stefan and Stumpf, Alexander and Stryk, Oskar von and Stryk, Oskar von
Title: Grid-Based Occupancy Mapping and Automatic Gaze Control for Soccer Playing Humanoid Robots
Language: English
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.

Title of Book: Proc. 6th Workshop on Humanoid Soccer Robots at the 2011 IEEE-RAS Int. Conf. on Humanoid Robots
Uncontrolled Keywords: World Modeling, RoboCup, Probabilistic Robotics, State Estimation
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Jun 2016 23:26
Identification Number: 2011:KohlbrecherStumpfVonStryk_WsHumSoc
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