Humanoid robot localization based on hybrid map

机译：基于混合地图的仿人机器人定位

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摘要

In this paper we present a hybrid map based localization method for humanoid robot. A indoor hybrid map is created by a humanoid robot NAO with a camera and a laser range finder. A global topological map is constructed by natural landmarks, and local metrical maps are established using improved Rao-Blackwellized particle filter. In addition, we set up auxiliary semantic layer based on QR code. and a unified framework of semantic-topological-metric hybrid map is set up. An accurate localization result was obtained by combine a global localization based on topological map and local positioning using KLD-MCL, Experiments shows the method can meet the requirements of indoor localization for a humanoid robot.

机译：在本文中，我们提出了一种基于混合地图的人形机器人定位方法。室内混合地图是由具有照相机和激光测距仪的类人机器人NAO创建的。使用自然地标构建全局拓扑图，并使用改进的Rao-Blackwellized粒子滤波器建立局部度量图。另外，我们基于QR码建立了辅助语义层。建立了语义-拓扑-度量混合图的统一框架。通过结合基于拓扑图的全局定位和KLD-MCL的局部定位获得了准确的定位结果，实验表明该方法可以满足人形机器人室内定位的要求。

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来源
《2017 International Conference on Security, Pattern Analysis, and Cybernetics》|2017年|509-514|共6页
会议地点 Shenzhen(CN)
作者
Xiandong Xu; Bingrong Hong; Yi Guan;
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作者单位

School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China;

School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China;

School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China;

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原文格式 PDF
正文语种 eng
中图分类
关键词
Humanoid robots; Feature extraction; Measurement; Semantics; Cameras; Robot vision systems;

机译：人形机器人;特征提取;测量;语义;相机;机器人视觉系统;;

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1. Transfer Learning for Humanoid Robot Appearance-Based Localization in a Visual Map [J] . Emmanuel Ovalle-Magallanes, Noé G. Aldana-Murillo, Juan Gabriel Avina-Cervantes, Quality Control, Transactions . 2021,第1期

机译：在视觉地图中转移人形机器人出现的本地化的学习
2. Vision-based global localization for mobile robots with hybrid maps of objects and spatial layouts [J] . Park S, Kim S, Park M, Information Sciences: An International Journal . 2009,第24期

机译：具有对象和空间布局混合图的移动机器人的基于视觉的全局定位
3. An extended Kalman filter-simultaneous localization and mapping method with Harris-scale-invariant feature transform feature recognition and laser mapping for humanoid robot navigation in unknown environment [J] . Wen Shuhuan, Zhang Zhishang, Ma Chunli, International Journal of Advanced Robotic Systems . 2017,第6期

机译：扩展卡尔曼滤波器 - 同时定位和映射方法，具有Harris-Scale-Invariant特征变换功能识别和激光映射，用于人类机器人导航在未知环境中
4. Humanoid robot localization based on hybrid map [C] . Xiandong Xu, Bingrong Hong, Yi Guan International Conference on Security, Pattern Analysis, and Cybernetics . 2017

机译：人形机器人本地化基于杂交图
5. A framework for roadmap-based navigation and sector-based localization of mobile robots. [D] . Kim, Jinsuck. 2004

机译：移动机器人基于路线图的导航和基于扇区的本地化的框架。
6. A Low-Cost EEG System-Based Hybrid Brain-Computer Interface for Humanoid Robot Navigation and Recognition [O] . Bongjae Choi, Sungho Jo -1

机译：基于低成本EEG系统的人形机器人导航与识别混合脑机接口
7. Vision based localization: from humanoid robots to visually impaired people [O] . Fernández Alcantarilla Pablo 2011

机译：基于视觉的定位：从人形机器人到视觉障碍者

Humanoid robot localization based on hybrid map

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