Mobility Map Computations for Autonomous Navigation using an RGBD Sensor
This work addresses scene modeling for autonomous navigation in humanoid robots, but it appears incremental as it builds on existing methods for traversability analysis.
The paper tackles the problem of enabling humanoid robots to navigate safely by performing traversability analysis of scenes using an RGBD sensor, focusing on classifying point clouds based on mobility and walking safety.
In recent years, the numbers of life-size humanoids as well as their mobile capabilities have steadily grown. Stable walking motion and control for humanoid robots are active fields of research. In this scenario an open question is how to model and analyse the scene so that a motion planning algorithm can generate an appropriate walking pattern. This paper presents the current work towards scene modelling and understanding, using an RGBD sensor. The main objective is to provide the humanoid robot iCub with capabilities to navigate safely and interact with various parts of the environment. In this sense we address the problem of traversability analysis of the scene, focusing on classification of point clouds as a function of mobility, and hence walking safety.