We developed a probabilistic localization method for humanoid robots
navigating in arbitrary complex indoor environments using only onboard
sensing, which is a challenging task. Inaccurate motion execution of
biped robots leads to an uncertain estimate of odometry, and their
limited payload constrains perception to observations from lightweight
and typically noisy sensors. Additionally, humanoids do not walk on
flat ground only and perform a swaying motion while walking, which
requires estimating a full 6D torso pose. We apply Monte Carlo
localization to globally determine and track a humanoid’s 6D pose in a
given 3D world model, which may contain multiple levels and
staircases. We present an observation model to integrate range
measurements from a laser scanner or a depth camera as well as
attitude data and information from the joint encoders. To increase the
localization accuracy, e.g., while climbing stairs, we propose a
further observation model and additionally use monocular vision data
in an improved proposal distribution. We demonstrate the effectiveness
of our methods in extensive real-world experiments with a Nao
humanoid. As the experiments illustrate, the robot is able to globally
localize itself and accurately track its 6D pose while walking and
- Monte Carlo Localization for Humanoid Robot Navigation in Complex Indoor Environments.
A. Hornung, S. Oßwald, D. Maier, and M. Bennewitz.
In: International Journal of Humanoid Robotics (IJHR), 2014, DOI: 10.1142/S0219843614410023.
- Humanoid Robot Localization
in Complex Indoor Environments.
A. Hornung, Kai M. Wurm, and M. Bennewitz.
In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010.
This video below shows our humanoid robot navigating in a complex indoor environment while localizing itself using our technique. We present experiments carried out in the Webots 6 robot simulator as well as using our Nao humanoid equipped with a laser head. This robot was developeed by Aldebaran Robotics in cooperation with our lab.