仿人机器人
计算机科学
人工智能
计算机视觉
机器人
同时定位和映射
RGB颜色模型
点云
移动机器人
作者
Tianwei Zhang,Yoshihiko Nakamura
标识
DOI:10.1142/s0219843620500097
摘要
Unsteady locomotion and the dynamic environment are two problems that block humanoid robots to apply visual Simultaneous Localization and Mapping (SLAM) approaches. Humans are often considered as moving obstacles and targets in humanoid robots working space. Thus, in this paper, we propose a robust dense RGB-D SLAM approach for the humanoid robots working in the dynamic human environments. To deal with the dynamic human objects, a deep learning-based human detector is combined in the proposed method. After the removal of the dynamic object, we fast reconstruct the static environments through a dense RGB-D point clouds fusion framework. In addition to the humanoid robot falling problem, which usually results in visual sensing discontinuities, we propose a novel point clouds registration-based method to relocate the robot pose. Therefore, our robot can continue the self localization and mapping after the falling. Experimental results on both the public benchmarks and the real humanoid robot SLAM experiments indicated that the proposed approach outperformed state-of-the-art SLAM solutions in dynamic human environments.
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