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A closed-loop approach for tracking a humanoid robot using particle filtering and depth data

Autor
Martínez, P.; Lin, X.; Castelan, M.; Casas, J.; Arechavaleta, G.
Tipus d'activitat
Article en revista
Revista
Intelligent service robotics
Data de publicació
2017-05-24
Pàgina inicial
1
Pàgina final
16
DOI
https://doi.org/10.1007/s11370-017-0230-0 Obrir en finestra nova
Projecte finançador
Procesado de información heterogénea y señales en grafos para Big Data:aplicación en cribado de alto rendimiento,teledetección,multimedia y HCI
Repositori
http://hdl.handle.net/2117/107765 Obrir en finestra nova
URL
https://link.springer.com/article/10.1007%2Fs11370-017-0230-0 Obrir en finestra nova
Resum
Humanoid robots introduce instabilities during biped march that complicate the process of estimating their position and orientation along time. Tracking humanoid robots may be useful not only in typical applications such as navigation, but in tasks that require benchmarking the multiple processes that involve registering measures about the performance of the humanoid during walking. Small robots represent an additional challenge due to their size and mechanic limitations which may generate unsta...
Citació
Martínez, P., Lin, X., Castelan, M., Casas, J., Arechavaleta, G. A closed-loop approach for tracking a humanoid robot using particle filtering and depth data. "Intelligent service robotics", 24 Maig 2017, p. 1-16.
Paraules clau
Humanoid robot, Particle filter, RGB-D sensor, ROS, Tracking
Grup de recerca
GPI - Grup de Processament d'Imatge i Vídeo
IDEAI-UPC Intelligent Data Science and Artificial Intelligence

Participants

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