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Absolute humanoid localization and mapping based on IMU Lie group and fiducial markers

Author
Fourmy, M.; Atchuthan, D.; Mansard, N.; Solá, J.; Flayols, T.
Type of activity
Presentation of work at congresses
Name of edition
2019 IEEE-RAS International Conference on Humanoid Robots
Date of publication
2019
Presentation's date
2019
Book of congress proceedings
2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), Toronto, Canada. October 15-17, 2019
First page
237
Last page
243
DOI
10.1109/Humanoids43949.2019.9035005
Project funding
Event-based simultaneous localization and mapping
Galileo-EGNOS as an Asset for UTM Safety and Security
Unit of Excellence María de Maeztu
Repository
http://hdl.handle.net/2117/187253 Open in new window
URL
https://ieeexplore.ieee.org/document/9035005 Open in new window
Abstract
Current locomotion algorithms in structured (in-door) 3D environments require an accurate localization. The several and diverse sensors typically embedded on legged robots (IMU, coders, vision and/or LIDARS) should make it possible if properly fused. Yet this is a difficult task due to the hetero-geneity of these sensors and the real-time requirement of the control. While previous works were using staggered approaches (odometry at high frequency, sparsely corrected from vision and LIDAR localiza...
Citation
Fourmy, M. [et al.]. Absolute humanoid localization and mapping based on IMU Lie group and fiducial markers. A: Humanoids - IEEE-RAS International Conference on Humanoid Robots. "2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), Toronto, Canada. October 15-17, 2019". 2019, p. 237-243.
Keywords
Humanoids, Lie group

Participants

  • Fourmy, Mederic  (author and speaker )
  • Atchuthan, Dinseh  (author and speaker )
  • Mansard, Nicolas  (author and speaker )
  • Solá Ortega, Joan  (author and speaker )
  • Flayols, Thomas  (author and speaker )