Title :
Binocular Robot Vision System with Shape Recognition
Author :
Yabuta, Yoshito ; Mizumoto, Hiroshi ; Arii, Shiro
Author_Institution :
Tottori Univ.
Abstract :
A binocular robot vision system having an autonomously moving active viewpoint is proposed. By using this active viewpoint, the system constructs a correspondence between the images of a feature points on the right and left retinas easily and calculates the spatial coordinates of the feature points. The system incorporates a function that detects straight lines in an image. To detect lines the system uses Hough transform. The system searches a region surrounded by 4 straight lines. Then the system recognizes the region as a quadrangle. The system constructs a correspondence between the quadrangles in the right and left images. By the use of the result of the constructed correspondence, the system calculates the spatial coordinates of an object. An experiment shows the effect of the line detection using Hough transform, the recognition of the surface of the object and the calculation of the spatial coordinates of the object
Keywords :
Hough transforms; computational geometry; edge detection; feature extraction; object recognition; robot vision; Hough transform; binocular robot vision system; feature points; object surface recognition; shape recognition; Cameras; Charge coupled devices; Charge-coupled image sensors; Data mining; Image edge detection; Object detection; Retina; Robot kinematics; Robot vision systems; Shape; Hough transform; active viewpoint; binocular robot vision; line detection; shape recognition;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.315093
