Localisation d'un robot humanoïde en milieu intérieur non-contraint

Abstract : After the democratization of industrial robots, the current trend is the development of social robots that create strong interactions with their users. The deployment of such platforms in shops, museums or train stations raises various issues including the autonomous localization of mobile robots. This thesis focuses on the localization of Pepper robots in a non-constrained indoor environment. Pepper robots are daily used in many shops in Japan and must be as autonomous as possible. However, localization solutions in the literature suffer from the limitations of the platform. This thesis is split into two main themes. First, the problem of relocalization in a visually redundant environment is studied. The proposed solution combines vision and Wi-Fi in a probabilistic approach based on the appearance. Then, the question of a consistent metrical mapping is examined. In order to compensate the numerous losses of tracking caused by the low acquisition frequency, odometric constraints are added to a bundle adjustment optimization. These solutions have been tested and validated on several Pepper robots, from data collected in different indoor environments over more than 7 km.
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Submitted on : Monday, November 18, 2019 - 12:35:28 PM
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Mathieu Nowakowski. Localisation d'un robot humanoïde en milieu intérieur non-contraint. Robotique [cs.RO]. PSL Research University, 2019. Français. ⟨NNT : 2019PSLEM026⟩. ⟨tel-02368079⟩

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