Home Teaching SS17 Lecture Humanoid Robotics Literature

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]