Direct visual SLAM fusing proprioception for a humanoid robot

  title={Direct visual SLAM fusing proprioception for a humanoid robot},
  author={Raluca Scona and Simona Nobili and Yvan R. Petillot and Maurice Fallon},
  journal={2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
In this paper we investigate the application of semi-dense visual Simultaneous Localisation and Mapping (SLAM) to the humanoid robotics domain. Challenges of visual SLAM applied to humanoids include the type of dynamic motion executed by the robot, a lack of features in man-made environments and the presence of dynamics in the scene. Previous research on humanoid SLAM focused mostly on feature-based methods which result in sparse environment reconstructions. Instead, we investigate the… CONTINUE READING
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