{"id":908,"date":"2017-12-08T20:47:58","date_gmt":"2017-12-08T20:47:58","guid":{"rendered":"https:\/\/ryma.cinvestav.mx\/ravg\/?post_type=project&#038;p=908"},"modified":"2018-01-28T01:37:05","modified_gmt":"2018-01-28T01:37:05","slug":"vision-based-persistance-localization-humanoid-robot-locomotion-tasks","status":"publish","type":"project","link":"https:\/\/ryma.cinvestav.mx\/ravg\/project\/vision-based-persistance-localization-humanoid-robot-locomotion-tasks\/","title":{"rendered":"Vision based persistance localization of a humanoid robot for locomotion tasks"},"content":{"rendered":"<div>\n<div style=\"text-align: justify\">\u00a0<span style=\"font-family: arial, sans-serif\">Typical monocular localization schemes involve solving for matches between reprojected 3D world points and 2D image features in order to estimate the absolute scale transformation between the camera and the world. Successfully calculating such transformation implies the existence of a good number of 3D points uniformly distributed as reprojected pixels around the image plane. This work introduces a method to control the march of a humanoid robot towards directions that are favorable for visual based localization. To this end, orthogonal diagonalization is performed on the covariance matrices of both sets of 3D world points and their 2D image reprojections. Experiments with the NAO humanoid platform show that our method provides persistence of localization, as the robot tends to walk towards directions that are desirable for a successful localization. Additional tests demonstrate how the proposed approach can be incorporated into a control scheme that considers reaching a target position. This project is part of the thesis of Dr. Pablo A. Mart\u00ednez.<br \/>\n<\/span><\/div>\n<\/div>\n<p><strong>Selected publications on this topic<\/strong><\/p>\n<p>Pablo A. Mart\u00ednez-Gonz\u00e1lez,\u00a0Mario Castel\u00e1n\u00a0and Gustavo Arechavaleta.\u00a0<strong><a href=\"https:\/\/drive.google.com\/file\/d\/0B-7dVUdTjeJUNGdXd0N6UWRvdk0\/view\">Vision based persistent localization of a humanoid robot for locomotion Tasks,<\/a><\/strong>\u00a0\u00a0<em>International Journal of Applied Mathematics and Computer Science, \u00a0<\/em>26 (3) \u00a0(2016).<\/p>\n<div><\/div>\n<div><\/div>\n<div>\n<div>\n<div class=\"sites-embed-align-center-wrapping-off\">\n<div class=\"sites-embed-border-off sites-embed\">\n<div class=\"sites-embed-content sites-embed-type-docs-video\"><\/div>\n<\/div>\n<\/div>\n<\/div>\n<div><\/div>\n<\/div>\n","protected":false},"excerpt":{"rendered":"<p>\u00a0Typical monocular localization schemes involve solving for matches between reprojected 3D world points and 2D image features in order to estimate the absolute scale transformation between the camera and the world. Successfully calculating such transformation implies the existence of a good number of 3D points uniformly distributed as reprojected pixels around the image plane. This [&hellip;]<\/p>\n","protected":false},"author":14,"featured_media":909,"comment_status":"open","ping_status":"closed","template":"","meta":{"_et_pb_use_builder":"","_et_pb_old_content":"","_et_gb_content_width":"","footnotes":""},"project_category":[21,22],"project_tag":[],"class_list":["post-908","project","type-project","status-publish","has-post-thumbnail","hentry","project_category-humanoid-robotics","project_category-robot-localization"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.3 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Vision based persistance localization of a humanoid robot for locomotion tasks - Robotics Active Vision Group<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/ryma.cinvestav.mx\/ravg\/project\/vision-based-persistance-localization-humanoid-robot-locomotion-tasks\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Vision based persistance localization of a humanoid robot for locomotion tasks - Robotics Active Vision Group\" \/>\n<meta property=\"og:description\" content=\"\u00a0Typical monocular localization schemes involve solving for matches between reprojected 3D world points and 2D image features in order to estimate the absolute scale transformation between the camera and the world. Successfully calculating such transformation implies the existence of a good number of 3D points uniformly distributed as reprojected pixels around the image plane. This [&hellip;]\" \/>\n<meta property=\"og:url\" content=\"https:\/\/ryma.cinvestav.mx\/ravg\/project\/vision-based-persistance-localization-humanoid-robot-locomotion-tasks\/\" \/>\n<meta property=\"og:site_name\" content=\"Robotics Active Vision Group\" \/>\n<meta property=\"article:modified_time\" content=\"2018-01-28T01:37:05+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/ryma.cinvestav.mx\/ravg\/wp-content\/uploads\/sites\/19\/2017\/12\/gustavo_proy1-1024x695.png\" \/>\n\t<meta property=\"og:image:width\" content=\"1024\" \/>\n\t<meta property=\"og:image:height\" content=\"695\" \/>\n\t<meta property=\"og:image:type\" content=\"image\/png\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"Est. reading time\" \/>\n\t<meta name=\"twitter:data1\" content=\"1 minute\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\\\/\\\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\\\/\\\/ryma.cinvestav.mx\\\/ravg\\\/project\\\/vision-based-persistance-localization-humanoid-robot-locomotion-tasks\\\/\",\"url\":\"https:\\\/\\\/ryma.cinvestav.mx\\\/ravg\\\/project\\\/vision-based-persistance-localization-humanoid-robot-locomotion-tasks\\\/\",\"name\":\"Vision based persistance localization of a humanoid robot for locomotion tasks - Robotics Active Vision Group\",\"isPartOf\":{\"@id\":\"https:\\\/\\\/ryma.cinvestav.mx\\\/ravg\\\/#website\"},\"primaryImageOfPage\":{\"@id\":\"https:\\\/\\\/ryma.cinvestav.mx\\\/ravg\\\/project\\\/vision-based-persistance-localization-humanoid-robot-locomotion-tasks\\\/#primaryimage\"},\"image\":{\"@id\":\"https:\\\/\\\/ryma.cinvestav.mx\\\/ravg\\\/project\\\/vision-based-persistance-localization-humanoid-robot-locomotion-tasks\\\/#primaryimage\"},\"thumbnailUrl\":\"https:\\\/\\\/ryma.cinvestav.mx\\\/ravg\\\/wp-content\\\/uploads\\\/sites\\\/19\\\/2017\\\/12\\\/gustavo_proy1.png\",\"datePublished\":\"2017-12-08T20:47:58+00:00\",\"dateModified\":\"2018-01-28T01:37:05+00:00\",\"breadcrumb\":{\"@id\":\"https:\\\/\\\/ryma.cinvestav.mx\\\/ravg\\\/project\\\/vision-based-persistance-localization-humanoid-robot-locomotion-tasks\\\/#breadcrumb\"},\"inLanguage\":\"en-US\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\\\/\\\/ryma.cinvestav.mx\\\/ravg\\\/project\\\/vision-based-persistance-localization-humanoid-robot-locomotion-tasks\\\/\"]}]},{\"@type\":\"ImageObject\",\"inLanguage\":\"en-US\",\"@id\":\"https:\\\/\\\/ryma.cinvestav.mx\\\/ravg\\\/project\\\/vision-based-persistance-localization-humanoid-robot-locomotion-tasks\\\/#primaryimage\",\"url\":\"https:\\\/\\\/ryma.cinvestav.mx\\\/ravg\\\/wp-content\\\/uploads\\\/sites\\\/19\\\/2017\\\/12\\\/gustavo_proy1.png\",\"contentUrl\":\"https:\\\/\\\/ryma.cinvestav.mx\\\/ravg\\\/wp-content\\\/uploads\\\/sites\\\/19\\\/2017\\\/12\\\/gustavo_proy1.png\",\"width\":1985,\"height\":1348},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\\\/\\\/ryma.cinvestav.mx\\\/ravg\\\/project\\\/vision-based-persistance-localization-humanoid-robot-locomotion-tasks\\\/#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"Home\",\"item\":\"https:\\\/\\\/ryma.cinvestav.mx\\\/ravg\\\/\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"Projects\",\"item\":\"https:\\\/\\\/ryma.cinvestav.mx\\\/ravg\\\/project\\\/\"},{\"@type\":\"ListItem\",\"position\":3,\"name\":\"Vision based persistance localization of a humanoid robot for locomotion tasks\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\\\/\\\/ryma.cinvestav.mx\\\/ravg\\\/#website\",\"url\":\"https:\\\/\\\/ryma.cinvestav.mx\\\/ravg\\\/\",\"name\":\"Robotics Active Vision Group\",\"description\":\"Miembro de Rob\u00f3tica y Manufactura Avanzada - Cinvestav\",\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\\\/\\\/ryma.cinvestav.mx\\\/ravg\\\/?s={search_term_string}\"},\"query-input\":{\"@type\":\"PropertyValueSpecification\",\"valueRequired\":true,\"valueName\":\"search_term_string\"}}],\"inLanguage\":\"en-US\"}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"Vision based persistance localization of a humanoid robot for locomotion tasks - Robotics Active Vision Group","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/ryma.cinvestav.mx\/ravg\/project\/vision-based-persistance-localization-humanoid-robot-locomotion-tasks\/","og_locale":"en_US","og_type":"article","og_title":"Vision based persistance localization of a humanoid robot for locomotion tasks - Robotics Active Vision Group","og_description":"\u00a0Typical monocular localization schemes involve solving for matches between reprojected 3D world points and 2D image features in order to estimate the absolute scale transformation between the camera and the world. 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