Visual Navigation for Humanoid Robot

Principal Investigator: Jan-Michael Frahm
Funding Agency: Honda Research Institute USA, Inc
Agency Number: N/A

Abstract
The goal of this project is to use computer vision techniques to develop a state-of-the-art visual navigation system for humanoid robots. In a first phase, we propose to perform feature-based self-localization and sparse 3D map building using ASIMO stereo camera. In a second phase, we propose to do incremental dense 3D reconstruction of ASIMO’s vicinity by using dense stereo matching algorithms to obtain a more complete representation of the environment suitable for interaction, as well as dealing with dynamic obstacles.