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Localization of a laser-equipped Nao Humanoid in complex indoor environments

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Uploaded on Oct 11, 2010

This video shows the results of the paper "Humanoid Robot Localization in Complex Indoor Environments" by Armin Hornung, Kai M. Wurm, and Maren Bennewitz (presented at IROS 2010). Using laser, odometry, its internal IMU and proprioception, our Nao is able to globally determine its 6D torso pose and accurately track it in a particle filter while walking and climbing stairs. Experiments were performed in the Webots 6 robot simulator and with a real laser-equipped Nao humanoid. As 3D environment representation, we use OctoMap (http://octomap.sf.net/).

For further details, see http://hrl.informatik.uni-freiburg.de...

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