| Title: |
CosySlam: investigating object-level SLAM for detecting locomotion surfaces |
| Authors: |
Debeunne, César; Fourmy, Médéric; Labbé, Yann; Léziart, Pierre-Alexandre; Saurel, Guilhem; Solà, Joan; Mansard, Nicolas |
| Contributors: |
Équipe Mouvement des Systèmes Anthropomorphes (LAAS-GEPETTO); Laboratoire d'analyse et d'architecture des systèmes (LAAS); Université Toulouse Capitole (UT Capitole); Communauté d'universités et établissements de Toulouse (Comue de Toulouse)-Communauté d'universités et établissements de Toulouse (Comue de Toulouse)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse); Institut National des Sciences Appliquées (INSA)-Communauté d'universités et établissements de Toulouse (Comue de Toulouse)-Institut National des Sciences Appliquées (INSA)-Communauté d'universités et établissements de Toulouse (Comue de Toulouse)-Université Toulouse - Jean Jaurès (UT2J); Communauté d'universités et établissements de Toulouse (Comue de Toulouse)-Université Toulouse III - Paul Sabatier (UT3); Communauté d'universités et établissements de Toulouse (Comue de Toulouse)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP); Communauté d'universités et établissements de Toulouse (Comue de Toulouse)-Université Toulouse Capitole (UT Capitole); Communauté d'universités et établissements de Toulouse (Comue de Toulouse); Models of visual object recognition and scene understanding (WILLOW); Département d'informatique - ENS-PSL (DI-ENS); École normale supérieure - Paris (ENS-PSL); Université Paris Sciences et Lettres (PSL)-Université Paris Sciences et Lettres (PSL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-École normale supérieure - Paris (ENS-PSL); Université Paris Sciences et Lettres (PSL)-Université Paris Sciences et Lettres (PSL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Centre Inria de Paris; Institut National de Recherche en Informatique et en Automatique (Inria); Institut de Robòtica i Informàtica Industrial (IRI); Universitat Politècnica de Catalunya = Université polytechnique de Catalogne Barcelona (UPC)-Consejo Superior de Investigaciones Cientificas España = Spanish National Research Council Spain (CSIC); his work has been supported by the MEMMO European Union project within the H2020 Program under Grant Agreement No. 780684, by the HPC resources from GENCI-IDRIS (Grant AD011011181R1), the Spanish Min-istry of Science, Innovation, and Universities project EB-SLAM (DPI2017-89564-P), by the EU H2020 project GAUSS (DPI2017-89564-P) and by the Spanish State Research Agency through the Maria de Maeztu Seal of Excellence to IRI MDM-2016-0656. |
| Source: |
https://hal.science/hal-03351438 ; 2022. |
| Publisher Information: |
CCSD |
| Publication Year: |
2022 |
| Collection: |
Université Toulouse III - Paul Sabatier: HAL-UPS |
| Subject Terms: |
[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]; [SPI.AUTO]Engineering Sciences [physics]/Automatic |
| Description: |
While blindfolded legged locomotion has demonstrated impressive capabilities in the last few years, further progresses are expected from using exteroceptive perception to better adapt the robot behavior to the available surfaces of contact. In this paper, we investigate whether mono cameras are suitable sensors for that aim. We propose to rely on object-level SLAM, fusing RGB images and inertial measurements, to simultaneously estimate the robot balance state (orientation in the gravity field and velocity), the robot position, and the location of candidate contact surfaces. We used CosyPose, a learning-based object pose estimator for which we propose an empirical uncertainty model, as the sole front-end of our visual inertial SLAM.We then combine it with inertial measurements which ideally complete the system observability, although extending the proposed approach would be straightforward (e.g. kinematic information about the contact, or a feature based visual front end).We demonstrate the interest of object-based SLAM on several locomotion sequences, by some absolute metrics and in comparison with other mono SLAM. |
| Document Type: |
report |
| Language: |
English |
| Availability: |
https://hal.science/hal-03351438; https://hal.science/hal-03351438v2/document; https://hal.science/hal-03351438v2/file/CosySLAM_2022.pdf |
| Rights: |
info:eu-repo/semantics/OpenAccess |
| Accession Number: |
edsbas.AC48841D |
| Database: |
BASE |