GPU-accelerated real-time 3D tracking for humanoid locomotion and stair climbing

Philipp Michel, Joel E. Chestnutt, Satoshi Kagami, Koichi Nishiwaki, James Kuffner, Takeo Kanade
The Robotics Institute, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA 15213
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007. IROS 2007, p.463-469


   title={GPU-accelerated real-time 3D tracking for humanoid locomotion and stair climbing},

   author={Michel, P. and Chestnut, J. and Kagami, S. and Nishiwaki, K. and Kuffner, J. and Kanade, T.},

   booktitle={Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on},





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For humanoid robots to fully realize their biped potential in a three-dimensional world and step over, around or onto obstacles such as stairs, appropriate and efficient approaches to execution, planning and perception are required. To this end, we have accelerated a robust model-based three-dimensional tracking system by programmable graphics hardware to operate online at frame-rate during locomotion of a humanoid robot. The tracker recovers the full 6 degree-of- freedom pose of viewable objects relative to the robot. Leveraging the computational resources of the GPU for perception has enabled us to increase our tracker’s robustness to the significant camera displacement and camera shake typically encountered during humanoid navigation. We have combined our approach with a footstep planner and a controller capable of adaptively adjusting the height of swing leg trajectories. The resulting integrated perception-planning-action system has allowed an HRP-2 humanoid robot to successfully and rapidly localize, approach and climb stairs, as well as to avoid obstacles during walking.
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