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Humanoid robot walking on its own across the room in sim.
- chase: third-person view of the humanoid walking to the goal - POV cam: the robot's onboard RGB, with the planner overlay (🟢 global A* path, 🔴 immediate move) - metric depth: Depth-Anything 2's per-pixel depth - occupancy map: top-down log-odds grid being built live-> white=free, red=obstacle+inflation, green dot=robot, blue=goal, green line=A* path The robot starts with no map. It draws one as it walks, steering around furniture to reach a goal in the next room. This is a monocular-vision stack for perception, mapping, and navigation: Depth-Anything-V2 turns each RGB frame into metric depth, visual-inertial odometry (VIO) fuses that depth with the IMU for pose, the two build a live occupancy map, and an A*/DWA planner walks the robot to the goal. What would make this more close to reality? Curious to know what tends to break first when a stack like this moves onto hardware. submitted by /u/airwarmedd [link] [Kommentare] reddit.com · reddit.com
- chase: third-person view of the humanoid walking to the goal - POV cam: the robot's onboard RGB, with the planner overlay (🟢 global A* path, 🔴 immediate move) - metric depth: Depth-Anything 2's per-pixel depth - occupancy map: top-down log-odds grid being built live-> white=free, red=obstacle+inflation, green dot=robot, blue=goal, green line=A* path The robot starts with no map. It draws one as it walks, steering around furniture to reach a goal in the next room. This is a monocular-vision stack for perception, mapping, and navigation: Depth-Anything-V2 turns each RGB frame into metric depth, visual-inertial odometry (VIO) fuses that depth with the IMU for pose, the two build a live occupancy map, and an A*/DWA planner walks the robot to the goal. What would make this more close to reality? Curious to know what tends to break first when a stack like this moves onto hardware. submitted by /u/airwarmedd [link] [Kommentare]
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