Roman Geykhman

Learn More
We present a novel method for the localization of a legged robot on known terrain using only proprioceptive sensors such as joint encoders and an inertial measurement unit. In contrast to other proprioceptive pose estimation techniques, this method allows for global localization (i.e., localization with large initial uncertainty) without the use of(More)
We present a novel method for the localization of a legged robot on known terrain using only proprioceptive sensors such as joint encoders and an inertial measurement unit. In contrast to other proprioceptive pose estimation techniques, this method allows for global localization (i.e., localization with large initial uncertainty) without the use of(More)
Obstacle detection is a vital component of any autonomous mobile robotics application. Vision-based systems for obstacle detection offer the advantage of using relatively inexpensive and readily available video cameras to supply a mobile robot with information about its environment. The key challenge, however, is that cameras supply too much information and(More)
  • 1