Whole-body motion planning and tracking of a mobile robot with a gimbal RGB-D camera for outdoor 3D exploration.
Zhihao WangHaoyao ChenMengmeng FuPublished in: J. Field Robotics (2024)
Keyphrases
- motion planning
- mobile robot
- rgb d camera
- path planning
- obstacle avoidance
- trajectory planning
- hand held
- humanoid robot
- indoor environments
- depth information
- simultaneous localization and mapping
- multi robot
- real time
- dynamic environments
- mobile robotics
- autonomous robots
- collision avoidance
- kalman filter
- degrees of freedom
- visual tracking
- robotic systems
- particle filter
- indoor scenes
- climbing robot
- rigid body
- object tracking
- state space
- surveillance system
- video surveillance
- stereo matching
- appearance model
- motion model
- computer vision