How to localize humanoids with a single camera?

Abstract

In this paper, we propose a real-time visionbased localization approach for humanoid robots using a single camera as the only sensor. In order to obtain an accurate localization of the robot, we first build an accurate 3D map of the environment. In the map computation process, we use stereo visual SLAM techniques based on non-linear least squares… (More)
DOI: 10.1007/s10514-012-9312-1

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