Riding on moving escalator of humanoid robot using 3D-space recognition algorithm with single camera

Vision sensors are widely being used in robot system to recognize spatial condition accurately. There are two ways of implementation to recognize 3-D spatial environment. One way is using stereo camera, and the other way is using single camera by changing its position. However a new technique using single camera with geometric analysis has been developed to recognize 3-D information effectively. The algorithm using the perspective concept applied to the vision data obtained from single fixed camera is implemented for the simulation of humanoid robot system to ride on the moving escalator. An accurate recognition of 3-D spatial vision has been accomplished which enables the humanoid robot system to take a necessary action. Also experiment shows successful operation of robot to ride on moving escalator with newly developed algorithm. The newly proposed image processing algorithm using perspective geometric concept turns out to have such a big advantage as it requires much less computation time than conventional methods does. Accordingly it can take care of lots of 3-D image information in relatively very short time; hence it should be one of the powerful methods to make the robot operating in real time frame.