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In this paper we present advances on the work done on the development of the AH1N2 humanoid robot at the Automatic Control Department of the Cinvestav. The geometric model of the AH1N2 humanoid robot is defined by kinematic open chains, head, arms, waist and legs, attached to the robot body. We center our work in the inverse geometric model, since from all the models used in robotics, is the most...
This article describes an estimation method for the camera pose through stereo vision. This method allows not only the camera localization, and trajectory finding, but also the realization of a map of characteristics. The proposed algorithm is based on the trilateration method for n spheres and its iterative implementation to solve 3D-3D Visual Odometry. To detect keypoints, SIFT algorithm is used...
The ambience of research in VSLAM and relocalization algorithms in the last few years allure with real-time localization and increased precision for RGBD or stereo cameras but with ambivalence requesting higher computational capacity or more expensive sensors. The aim of this paper is to present a gentle algorithm to locate a humanoid robot using relocalization view based algorithms and odometry information...
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