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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Waldron},\r\n title = {{Optical Flow Aided Motion Estimation for Legged Locomotion}},\r\n booktitle = {Proceedings of the International Conference on Intelligent Robots\r\n\tand Systems ({IROS})},\r\n year = {2006},\r\n pages = {1738--1743},\r\n month = {Oct},\r\n abstract = {Dynamic legged locomotion entails navigating terrain at high speed.\r\n\tThe impact shocks from rapid footfalls, pivotal for such mobility,\r\n\tintroduce large impulses that saturate motion measurement. A biomimetic\r\n\tapproach is presented in which visual information, in the form of\r\n\toptical flow, complements information from inertial sensors. The\r\n\tmotion is then determined using a two-phase hybrid extended Kalman\r\n\tfilter. Experimentation in determining attitudes on a robotic leg\r\n\tplatform shows a reduction in drift over inertial approaches and\r\n\tin delay over visual approaches. 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