ICRA 2012 Paper Abstract

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Paper TuB04.5

Ma, Jeremy (Jet Propulsion Laboratory), susca, sara (University of California Santa Barbara), Bajracharya, Max (JPL), Matthies, Larry (Jet Propulsion Laboratory), Malchano, Matthew (Boston Dynamics), Wooden, David (Boston Dynamics)

Robust Multi-Sensor, Day/Night 6-DOF Pose Estimation for a Dynamic Legged Vehicle in GPS-Denied Environments

Scheduled for presentation during the Regular Session "Pose Estimation" (TuB04), Tuesday, May 15, 2012, 11:30−11:45, Meeting Room 4 (Chief Wabasha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 13, 2017

Keywords Localization, Sensor Fusion, Multi-legged Robots

Abstract

We present a real-time system that enables a highly capable dynamic quadruped robot to maintain an accurate 6-DOF pose estimate (better than 0.5m over every 50m traveled) over long distances traversed through complex, dynamic outdoor terrain, during day and night, in the presence of camera occlusion and saturation, and occasional large external disturbances, such as slips or falls. The system fuses a stereo-camera sensor, inertial measurement units (IMU), and leg odometry with an Extended Kalman Filter (EKF) to ensure robust, low-latency performance. Extensive experimental results obtained from multiple field tests are presented to illustrate the performance and robustness of the system over hours of continuous runs over hundreds of meters of distance traveled in a wide variety of terrains and conditions.

 

 

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