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Conference Towards Autonomous Robotic Systems

TAROS 2013: Towards Autonomous Robotic Systems pp 298–310Cite as

An Approach to Navigation for the Humanoid Robot Nao in Domestic Environments

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8069))

Abstract

Humanoid robot navigation in domestic environments remains a challenging task. In this paper, we present an approach for navigating such environments for the humanoid robot Nao. We assume that a map of the environment is given and focus on the localization task. The approach is based on the use only of odometry and a single camera. The camera is used to correct for the drift of odometry estimates. Additionally, scene-classification is used to obtain information about the robot’s position when it gets close to the destination. The approach is tested in an office environment to demonstrate that it can be reliably used for navigation in a domestic environment.

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Author information

Authors and Affiliations

  1. EEMCS, Delft University of Technology, Delft, The Netherlands

    Changyun Wei, Junchao Xu, Chang Wang, Pascal Wiggers & Koen Hindriks

Authors
  1. Changyun Wei
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  2. Junchao Xu
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  3. Chang Wang
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  4. Pascal Wiggers
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  5. Koen Hindriks
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Corresponding author

Correspondence to Changyun Wei .

Editor information

Editors and Affiliations

  1. Department of Computer Science, University of Oxford, Oxford, United Kingdom

    Ashutosh Natraj

  2. Department of Computer Science, University of Oxford, Oxford, United Kingdom

    Stephen Cameron

  3. University of Bristol and the West of En, Bristol, United Kingdom

    Chris Melhuish

  4. Imperial College London Department of Electrical and Electronic, London, United Kingdom

    Mark Witkowski

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© 2014 Springer-Verlag Berlin Heidelberg

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Wei, C., Xu, J., Wang, C., Wiggers, P., Hindriks, K. (2014). An Approach to Navigation for the Humanoid Robot Nao in Domestic Environments. In: Natraj, A., Cameron, S., Melhuish, C., Witkowski, M. (eds) Towards Autonomous Robotic Systems. TAROS 2013. Lecture Notes in Computer Science(), vol 8069. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-43645-5_33

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  • DOI: https://doi.org/10.1007/978-3-662-43645-5_33

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-662-43644-8

  • Online ISBN: 978-3-662-43645-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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