Vision-Guided Walking in a Structured Indoor Scenario

Abstract

Original scientific paperLocomotion of a biped robot in a scenario with obstacles requires a high degree of coordination between perception and walking.This article presents key ideas of a vision-based strategy for guidance of walking robots in structured scenarios.Computer vision techniques are employed for reactive adaptation of step sequences allowing a robot to step over or upon or walk around obstacles.Highly accurate feedback information is achieved by a combination of line-based scene analysis and real-time feature tracking.The proposed vision-based approach was evaluated by experiments with a real humanoid robot.