Literature

Literature recommendations for the humanoid robotics lecture
Topic Literature Links
robotics in general Probabilistic Robotics.
S. Thrun, W. Burgard, and D. Fox.
Cambridge, Mass.: MIT Press, 2006. ISBN: 978-0-262-20162-9.
[ULB] [RWTH] [HBRS] [www]
least squares Any textbook on numeric analysis or optimization. Follow the links for a list of books available in the University Library. [ULB English] [ULB German]
projective geometry

Multiple View Geometry in Computer Vision. Chapters 2-3: Projective Geometry and Transformations of 2D/3D.
R. Hartley and A. Zisserman.
Cambridge: Cambridge University Press, 2004, ISBN: 978-0-521-54051-3.

[ULB] [RWTH][HBRS], fulltext available

Photogrammetry I. Chapter 14: Homogeneous Coordinates.
C. Stachniss. Lecture material, University of Bonn, 2016.

[slides] [lecture recording]

camera calibration Multiple View Geometry in Computer Vision. Chapter 6: Camera Models.
R. Hartley and A. Zisserman.
Cambridge: Cambridge University Press, 2004, ISBN: 978-0-521-54051-3
[ULB] [RWTH][HBRS], fulltext available
Photogrammetry I. Chapter 15: Camera Extrinsics and Intrinsics.
C. Stachniss. Lecture material, University of Bonn, 2016.
[slides] [lecture recording]
humanoid calibration Whole-Body Self-Calibration via Graph-Optimization and Automatic Configuration Selection.
D. Maier and M. Bennewitz.
Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2015.
[PDF]

Camera-Based Humanoid Robot Navigation. Chapter 2: Whole-Body Self-Calibration.
Daniel Maier.
PhD thesis, University of Freiburg, 2015.

[PDF]

3D world models Multi-Level Surface Maps for Outdoor Terrain Mapping and Loop Closing.
R. Triebel, P. Pfaff, and W. Burgard.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2006.
[PDF]

OctoMap: An Efficient Probabilistic 3D Mapping Framework Based on Octrees.
A. Hornung, K.M. Wurm, M. Bennewitz, C. Stachniss, and W. Burgard.
Autonomous Robots, 2013.

[PDF]

Real-Time Camera Tracking and 3D Reconstruction Using Signed Distance Functions.
E. Bylow, J. Sturm, C. Kerl, F. Kahl, and D. Cremers.
Proceedings of Robotics: Science and Systems (RSS), 2013.
[PDF]
Continuous Humanoid Locomotion over Uneven Terrain using Stereo Fusion.
M. F. Fallon, P. Marion, R. Deits, T. Whelan, M. Antone, J. McDonald, and R. Tedrake.
Proceedings of the IEEE-RAS International Conference on Humanoid Robotics (HUMANOIDS), 2015.
[PDF]
ICP A method for registration of 3-D shapes.
P.J. Besl and N.D. McKay.
IEEE Transactions on Pattern Analysis and Machine Intelligence, 1992.
[PDF]
Efficient Variants of the ICP Algorithm.
S. Rusinkiewicz and M. Levoy.
Proceedings of the International Conference on 3D Digital Imaging and Modeling, 2001.
[PDF]
Linear Least-Squares Optimization for Point-to-Plane ICP Surface Registration.
K.-L. Low.
Technical Report, University of North Carolina, 2004.
[PDF]
Camera-Based Humanoid Robot Navigation. Chapter 5: 3D Footstep Planning Among Clutter.
Daniel Maier.
PhD thesis, University of Freiburg, 2015.
[PDF]
6D localization for humanoid robots

Humanoid Robot Navigation in Complex Indoor Environments. Chapter 3: Monte Carlo Localization for Humanoid Robots.
Armin Hornung.
PhD thesis, University of Freiburg, 2014.

[PDF]
path planning

Anytime Search-Based Footstep Planning with Suboptimality Bounds.
A. Hornung, A. Dornbush, M. Likhachev, and M. Bennewitz.
Proceedings of the IEEE-RAS International Conference on Humanoid Robotics (HUMANOIDS), 2012.

[PDF]

ARA*: Anytime A* with provable bounds on suboptimality.
M. Likhachev, G. Gordon, and S. Thrun.
Advances in Neural Information Processing Systems (NIPS), 2004.

[PDF]

Introduction to Humanoid Robotics. Chapter 3: ZMP and Dynamics.
S. Kajita, H. Hirukawa, K. Harada, and K. Yokoi.
Springer, 2014. ISBN: 978-3-642-54535-1.

[ULB]
Search-based planning library (SBPL).
Search-based Planning Lab, Carnegie Mellon University, Pittsburgh.
Open-source library and ROS package.
[www] [ROS]
Footstep planning implementation based on SBPL.
J. Garimort and A. Hornung, Humanoid Robots Lab, University of Freiburg.
Open-source ROS package.
[ROS]
Zero-Moment Point (ZMP)

Introduction to Humanoid Robotics. Chapter 3: ZMP and Dynamics.
S. Kajita, H. Hirukawa, K. Harada, and K. Yokoi.
Springer, 2014. ISBN: 978-3-642-54535-1.

[ULB] [www]
inverse kinematics

Introduction to Inverse Kinematics with Jacobian Transpose, Pseudoinverse and Damped Least methods.
S.R. Buss, University of California, 2009.

[PDF]
Rapidly-exploring Random Trees (RRT)

RRT-Connect: An Efficient Approach to Single-Query Path Planning.
J. Kuffner and S. LaValle.
Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2000.

[PDF]
whole-body motion planning

Whole-Body Motion Planning for Manipulation of Articulated Objects.
F. Burget, Armin Hornung, and M. Bennewitz.
Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2013.

[PDF]
Inverse Reachability Maps (IRM)

 

Stance Selection for Humanoid Grasping Tasks by Inverse Reachability Maps.
F. Burget and M. Bennewitz.
Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2015

[PDF]

Robot Placement based on Reachability Inversion.
N. Vahrenkamp, T. Asfour, and R. Dillmann.
Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), 2013

[PDF]
statistical testing

Empirical Methods for Artificial Intelligence. Chapter 4: Hypothesis Testing and Estimation.
P.R. Cohen.
Cambridge: MIT Press, 1995, ISBN: 978-0-262-03225-4.

[ULB] [RWTH]