Joan Sola -IRI- Mederic Fourmy -LAAS- Cesar Debeunne -ISAE- Torsten Sattler -CTU- Josef Sivic -CTU-

Workshop on high-accuracy and high-frequency vision for legged robot localization Tentative workshop date: 15/2/2022, 10:00-12:30 Objective: During Summer 2022, we are planning to work on a shared project to finalize, integrate and experimentally evaluate a SLAM application for legged robots. The objective is to obtain high-accuracy high-frequency (1 kHz) localization of a legged robot, by fusing inputs coming from i) an inertial measurement unit ii) cameras and iii) kinematic contact. Several features of this project have already been validated. We are using the SLAM toolbox WOLF developed by the team of Joan Sola in Barcelona. It features IMU processes providing high-frequency information. We integrated in a first prototype the kinematic perception of our quadruped. We also did a first experience using CosyPose features (6D accurate information based on known object) in the SLAM. Relative camera-scene poses obtained by CosyPose act as high-level visual information, providing absolute measurements (somehow similar to place recognition, although more accurate and less versatile). We also have a plan to integrate visual odometry, for example based on KLT features, to complement the information extracted from the visual input by CosyPose. Ideally, by the end of the summer, we would like to target a complete real-time integration working with the sensors of the quadruped robot Solo, or even if possible on-board the real robot. The current organisation of the project is gathering 5 researchers from Barcelona and Toulouse in a distributed set up, with most of the vision expertise in Barcelona, and the experimental expertise in Toulouse. We would be happy to collect opinions or even additional expertise to join the project.

Tentative workshop schedule (each slot is 15min + 5min questions):