Conference proceeding
Early phases of humanoid vehicle ingress using depth cameras
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Conference Proceedings, 1
01 Apr 2014
Abstract
Conference Title: 2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Conference Start Date: 2014, April 14 Conference End Date: 2014, April 15 Conference Location: Woburn, MA, USA This paper presents work on integrating perception and motion-planning for a humanoid robot to ingress, or enter, a small utility vehicle as a precursor to driving, a stage in the recent DARPA Robotics Challenge (DRC). Using a Hubo 2+ robot platform and a pair of RGB-D cameras, we describe a set of approaches to and present results on the first four phases of ingress: (1) visually search for the vehicle's doorway as a target to walk toward, (2) plan and execute a collision-free approach to the doorway via walking using visual odometry, (3) make visually-guided fine positioning adjustments near the entry door during docking, and (4) step from the ground up to the floor of the vehicle. All recognition is done on 3-D point clouds derived from the depth cameras without appearance information. Some further ingress results from the DRC-Hubo making use of grasping are also shown. [PUBLICATION ABSTRACT]
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Details
- Title
- Early phases of humanoid vehicle ingress using depth cameras
- Creators
- Christopher RasmussenKiwon SohnKarthikeyan YuvrajPaul Oh
- Publication Details
- The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Conference Proceedings, 1
- Publisher
- The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
- Resource Type
- Conference proceeding
- Language
- English
- Identifiers
- 991019348753104721