Reliable Indoor Navigation on Humanoid Robots using Vision-Based Localization

摘要

Abstract — Reliable localization on a humanoid robot is a sine qua non condition to succeed in realizing complex robotics scenarios. Before dealing with perturbations and online mod-ification of the environment, one has to make sure that the planned trajectory alone will be correctly followed. This paper demonstrates that a control framework suited to humanoid robots relying on a vision-based localization system can achieve this goal. Our localization framework is based on a real-time vision-based localization system that assumes that a pre-existing 3D map of the environment exists and allows to obtain accurate results in complex robotics scenarios. By compensating for execution errors such as drifts and robot model errors, the HRP-2 robot is able to achieve high precision tasks.