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Authors: Hendry Ferreira Chame and Christine Chevallereau

Affiliation: Ecole Centrale de Nantes, France

ISBN: 978-989-758-040-6

Keyword(s): Humanoid Robotics, Embodied Cognition, Ego-localization, Machine Vision.

Related Ontology Subjects/Areas/Topics: Agents ; Artificial Intelligence ; Cognitive Robotics ; Humanoid Robots ; Informatics in Control, Automation and Robotics ; Perception and Awareness ; Robotics and Automation ; Vision, Recognition and Reconstruction

Abstract: Humanoid robots are conceived to resemble the body and comportment of the human beings. Among the behavior repertoire, the possibility of executing visually-guided tasks is crucial for individual adaptation and relies on the on-board sensory system. However, the research on walk and localization is far from conclusive. Given the difficulties in the processing of the visual feedback, some studies have treated the problem by placing external sensors on the environment; thus neglecting the corporal metaphor. Others, despite exploring on-board solutions; have relied on an extensive model of the environment, thus considering the system as an information processing unit, abstracted from a body. This work presents a methodology to achieve embodied localization to serve visually-guided walk. The solution leans on robust segmentation from monocular vision, ego-cylindrical localization, and minimal knowledge about stimuli in the environment.

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Paper citation in several formats:
Ferreira Chame, H. and Chevallereau, C. (2014). Embodied Localization in Visually-guided Walk of Humanoid Robots.In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-040-6, pages 165-174. DOI: 10.5220/0005063001650174

@conference{icinco14,
author={Hendry Ferreira Chame. and Christine Chevallereau.},
title={Embodied Localization in Visually-guided Walk of Humanoid Robots},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2014},
pages={165-174},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005063001650174},
isbn={978-989-758-040-6},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Embodied Localization in Visually-guided Walk of Humanoid Robots
SN - 978-989-758-040-6
AU - Ferreira Chame, H.
AU - Chevallereau, C.
PY - 2014
SP - 165
EP - 174
DO - 10.5220/0005063001650174

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