Getting the Position and the Pose Using Stereo Vision
نویسنده
چکیده
Controlling a quadruped robot is a challenging problem in Robotics. In this report I present an application to get the position and the pose of the Little Dog robot using stereo vision. I built a vision system on top of the Little Dog robot and reconstructed a 3-D terrain model using a stereo camera. Then I aligned sequential 3-D models to get the position and the pose using ICP algorithm. In the future, this information will be integrated to the controller of the robot as feedback so that it can get over a tough terrain without support of motion capture system.
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