Path-dependent gaze control for obstacle avoidance in vision guided humanoid walking
نویسندگان
چکیده
This article presents a novel gaze control strategy for obstacle avoidance in the context of vision guided humanoid walking. The generic strategy is based on the maximization of the predicted visual information. For information/uncertainty management a new hybrid formulation of an Extended Kalman Filter is employed. The performance resulting from this view direction control scheme shows the dependence of the intelligent gazing behavior on the preplanned local path.
منابع مشابه
Task-Oriented and Situation-Dependent Gaze Control for Vision Guided Humanoid Walking
–This article presents various aspects of a gaze control scheme for visually guided humanoid robot navigation. The strategy is based on the maximization of the predicted visual information. For the information management a coupled hybrid Extended Kalman Filter is employed. Specific view direction control strategies for two concurrent objectives of different nature, obstacle avoidance and self-l...
متن کاملGaze Control for Goal-Oriented Humanoid Walking
In this article a predictive task-dependent gaze control strategy for goal-oriented humanoid walking is presented. In the context of active vision systems we introduce an information theoretical approach for maximization of visual information. Based on two novel concepts, Information Content of a view situation and Incertitude, we present a method for selecting optimal subsequent view direction...
متن کامل3D Vision-Based Local Path Planning System of a Humanoid Robot for Obstacle Avoidance
This paper addresses the vision based local path planning system for obstacle avoidance. To handle the obstacles which exist beyond the field of view (FOV), we propose a Panoramic Environment Map (PEM) using the MDGHM-SIFT algorithm. Moreover, we propose a Complexity Measure (CM) and Fuzzy logic-based Avoidance Motion Selection (FAMS) system to enable a humanoid robot to automatically decide it...
متن کاملOnline Humanoid Locomotion Control by using 3D Vision Information
Autonomous locomotion is one of the most important ability for humanoid utilized in human working environment. Walking control system that follows the desired motion given online is designed with layered control architecture and implemented as a basic system of autonomous walking. Moving goal tracking function and reactive obstacle avoidance function are implemented using stereo vision system a...
متن کاملInformation management for gaze control in vision guided biped walking
This article deals with the information management for active gaze control in the context of vision-guided humanoid walking. The proposed biologically inspired predictive gaze control strategy is based on the maximization of visual information. The quantification of the information requires a stochastic model of both, the robot and perception system. The information/uncertainty management, i.e....
متن کامل