Sohn, Kiwon (University of Hartford), Murshid, Mohammad (University of Hartford)

Perceptual Ability Advancement of a Humanoid with Limited Sensors Via Data Transmission from an Aerial Robot

Scheduled for presentation during the Regular Session "Sensor Fusion I" (ThB3), Thursday, June 13, 2019, 13:50−14:10, Heritage A

2020 International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Athens, Greece

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

This paper presents an approach to increase the perceptual space of a ground robot (humanoid which has limited sensory abilities) via its accompanying aerial robot's data transmission. First, the robot which has only 2D camera sensor used the hip-sway motion to predict the target's 3D position and orientation in its sensor coordinate. The pose data is refined with a iterative method using the ego-motion estimation of the humanoid. Then, the neighboring drone which is equipped with 3D camera system is controlled to detect the same target object. The measured pose of the target object in the aerial robot's perceptual space is combined with the object's calculated coordinate (which is constructed from the humanoid's 2D sensor). The fusion process enabled the localization of the humanoid in the drone's collected 3D point cloud data of the task environments. The combined coordinates are then used for motion-planning of the humanoid for its safe and effective task manipulation in the field. Through experiments with a small-sized humanoid robot and a drone, the presented approach is tested and evaluated in a mock-up of the task field.