Optical Flow Aided Motion Estimation for Legged Locomotion

Optical Flow Aided Motion Estimation for Legged Locomotion. Singh, S. P. N., Csonka, P. J., & Waldron, K. J. In Proceedings of the International Conference on Intelligent Robots and Systems (IROS), pages 1738–1743, Oct, 2006.
doi abstract bibtex

Dynamic legged locomotion entails navigating terrain at high speed. The impact shocks from rapid footfalls, pivotal for such mobility, introduce large impulses that saturate motion measurement. A biomimetic approach is presented in which visual information, in the form of optical flow, complements information from inertial sensors. The motion is then determined using a two-phase hybrid extended Kalman filter. Experimentation in determining attitudes on a robotic leg platform shows a reduction in drift over inertial approaches and in delay over visual approaches. In tests with 6g impulses, pose was recovered within 5 deg rms with angular rate errors limited to 10 deg/sec at frequencies up to 250 Hz.

@INPROCEEDINGS{spns.iros06,
  author = {S. P. N. Singh and P. J. Csonka and K. J. Waldron},
  title = {{Optical Flow Aided Motion Estimation for Legged Locomotion}},
  booktitle = {Proceedings of the International Conference on Intelligent Robots
	and Systems ({IROS})},
  year = {2006},
  pages = {1738--1743},
  month = {Oct},
  abstract = {Dynamic legged locomotion entails navigating terrain at high speed.
	The impact shocks from rapid footfalls, pivotal for such mobility,
	introduce large impulses that saturate motion measurement. A biomimetic
	approach is presented in which visual information, in the form of
	optical flow, complements information from inertial sensors. The
	motion is then determined using a two-phase hybrid extended Kalman
	filter. Experimentation in determining attitudes on a robotic leg
	platform shows a reduction in drift over inertial approaches and
	in delay over visual approaches. In tests with 6g impulses, pose
	was recovered within 5 deg rms with angular rate errors limited to
	10 deg/sec at frequencies up to 250 Hz.},
  doi = {10.1109/IROS.2006.282134},
  fauthor = {Surya P. N. Singh and Paul J. Csonka and Kenneth J. Waldron}
}

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