Exosense: 外骨格のための視覚ベースシーン理解システム
Exosense: A Vision-Based Scene Understanding System For Exoskeletons
自己平衡型外骨格に搭載する視覚中心のシーン理解システムを提案し、歩行中の自己位置推定と地形マッピングを実現した。
著者: Jianeng Wang, Matias Mattamala, Christina Kassab, Guillaume Burger, Fabio Elnecave, Lintong Zhang, Marine Petriaux, Maurice Fallon
分類: cs.RO, cs.CV
原文アブストラクト
Self-balancing exoskeletons are a key enabling technology for individuals with mobility impairments. While the current challenges focus on human-compliant hardware and control, unlocking their use for daily activities requires a scene perception system. In this work, we present Exosense, a vision-centric scene understanding system for self-balancing exoskeletons. We introduce a multi-sensor visual-inertial mapping device as well as a navigation stack for state estimation, terrain mapping and long-term operation. We tested Exosense attached to both a human leg and Wandercraft's Personal Exoskeleton in real-world indoor scenarios. This enabled us to test the system during typical periodic walking gaits, as well as future uses in multi-story environments. We demonstrate that Exosense can achieve an odometry drift of about 4 cm per meter traveled, and construct terrain maps under 1 cm average reconstruction error. It can also work in a visual localization mode in a previously mapped environment, providing a step towards long-term operation of exoskeletons.
