Direct visual SLAM fusing proprioception for a humanoid robot

@article{Scona2017DirectVS,
  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)},
  year={2017},
  pages={1419-1426}
}
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
1 Extracted Citations
22 Extracted References
Similar Papers

Citing Papers

Publications influenced by this paper.

Referenced Papers

Publications referenced by this paper.
Showing 1-10 of 22 references

Similar Papers

Loading similar papers…