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Real-Time Dense Multi-Scale Workspace Modeling on a Humanoid Robot

Wagner, René and Frese, Udo and Bäuml, Berthold (2013) Real-Time Dense Multi-Scale Workspace Modeling on a Humanoid Robot. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan.

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Abstract

Without a precise and up-to-date model of its environment a humanoid robot cannot move safely or act usefully. Ideally, the robot should create a dense 3D environment model in real-time, all the time, and respect obstacle information from it in every move it makes as well as obtain the information it needs for fine manipulation with its fingers from the same map. We propose to use a multi-scale truncated signed distance function (TSDF) map consisting of concentric, nested cubes with exponentially decreasing resolution for this purpose. We show how to extend the KinectFusion real-time SLAM algorithm to the multi-scale case as well as how to compute a multi-scale Euclidean distance transform (EDT) thereby establishing the link to optimization-based planning. We overcome the inability of KinectFusion's localization to handle scenes without enough constraining geometry by switching to mapping-with-known-poses based on forward kinematics. The latter is always available and we know when it is precise. The resulting map has the desired properties: It is computed in real-time (7.5ms per depth frame for a (8m)^3 multi-scale TSDF volume), covers the entire laboratory, does not depend on scene properties (geometry, texture, etc.) and is precise enough to facilitate grasp planning for fine manipulation tasks - all in a single map.

Item URL in elib:https://elib.dlr.de/85276/
Document Type:Conference or Workshop Item (Speech)
Title:Real-Time Dense Multi-Scale Workspace Modeling on a Humanoid Robot
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Wagner, Renérene.wagner (at) dlr.deUNSPECIFIED
Frese, Udoufrese (at) informatik.uni-bremen.deUNSPECIFIED
Bäuml, Bertholdberthold.baeuml (at) dlr.deUNSPECIFIED
Date:2013
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:mapping multi-scale kinect motionplanning optimization humanoid robot justin gpgpu gpu cuda
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:Tokyo, Japan
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Wagner, Rene
Deposited On:17 Dec 2013 09:55
Last Modified:31 Jul 2019 19:42

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