GPU-accelerated real-time 3D tracking for humanoid locomotion and stair climbing
Published: Oct 1, 2007
Abstract
For humanoid robots to fully realize their biped potential in a three-dimensional world and step over, around or onto obstacles such as stairs, appropriate and efficient approaches to execution, planning and perception are required. To this end, we have accelerated a robust model-based three-dimensional tracking system by programmable graphics hardware to operate online at frame-rate during locomotion of a humanoid robot. The tracker recovers...
Paper Details
Title
GPU-accelerated real-time 3D tracking for humanoid locomotion and stair climbing
Published Date
Oct 1, 2007
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