Visual Odometry on a Humanoid Robot (short path, strong motion blur)

Estimation of a short path followed by the NimbRo humanoid robot. The images are affected by a very strong motion blur effect. On the left, the matches detected using the MOBIF features detection and description scheme (Motion Blur Invariant Features). On the right, the current path estimation obtained with MLESAC + 5points algorithm. The odometry is estimated in 3D (six degrees of freedom) but for convenience in the video is projected in 2D.

Developed by A. Pretto (IASLab, Padua, Italy) in collaboration with the AIS-Lab (Freiburg, Germany). Thanks to Jorg Stuckler for his help in collecting data with a humanoid robot of Team NimbRo.
More info on: http://robotics.dei.unipd.it/~pretto/

Category:

Science & Technology

Tags:

• Visual Odometry
• Humanoid Robots