Visual and Inertial Odometry for a Disaster Recovery Humanoid
نویسندگان
چکیده
Disaster recovery robots must operate in unstructured environments where wheeled or tracked motion may not be feasible or where it may be subject to extreme slip. Many industrial disaster scenarios also preclude reliance on GNSS or other external signals as robots are deployed indoors or underground. Two of the candidates for precise positioning in these scenarios are visual odometry and inertial navigation. This paper presents some practical experience in the design and analysis of a combined visual and inertial odometry system for the Carnegie Mellon University Highly Intelligent Mobile Platform (CHIMP); a humanoid robot competing in the DARPA Robotics Challenge.
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