Research Plan
Research Theme: SLAM on Humanoid Robot Platform
1. Reasech Progress
1.1. Background and Motivation
1.2. Introduction - Odometry and SLAM
Odometry is changes in translation and rotation of robots. It is estimated from a difference in sensor wheel or IMU data between time t and t-1.
Consecutive odometry data present a map.
Here is a created map by 2D SLAM.
Visual odometry is a common approach in 3D SLAM. Instead of laser range data, camera data are used. Visual odometry is estimated from a difference between time t and t-1.
Estimated translation along X axis.
Estimated translation along Y axis.
Estimated translation along Z axis.
Here is a created map by 3D SLAM.
1.3. Research Progress in 3D SLAM with Humanoid Locomotion
Applying a existing 3D SLAM algorithm RTAB-Map, our humanoid estimated odometry data during locomotion and created a 3D map.
2.1. Research Plan - Brushing up 3D SLAM with Humanoid Locomotion
Here is my future plan.
2.2 Research Plan - Internship
In my internship, I’m planning to participate in NASA Space Robotics Challenge. Here is what we do in the challenge.
2.3 Research Progress & Plan - Time Line
2.3.1 Progress
2.3.2 Plan
