DocumentCode :
348893
Title :
Three-dimensional pose determination for a humanoid robot using binocular head system
Author :
Kim, Hong-Jae ; You, Bum-Jae ; Hager, Gregory D. ; Oh, Sang-Rok ; Lee, Chong Won
Author_Institution :
Display Div., Samsung Electron. Co. Ltd., Kyungkido, South Korea
Volume :
2
fYear :
1999
fDate :
1999
Firstpage :
1204
Abstract :
There has been much interests on three-dimensional pose estimation of an object since there are a lot of robotic applications such as intelligent robotic assembly and/or vision-guided control of a humanoid or human-friendly robot. In this paper, there are proposed a simple and fast stereo matching algorithm for real-time robotic applications and an improved scheme for feature matching using three-dimensional information by adopting backprojection as a feedback element measuring the degree of feature matching. The degree of feature matching is determined by checking existence ratio of each feature point in real images after back-projecting an object model into image plane. The proposed pose determination algorithm is applied for a humanoid robot in KIST, whose name is CENTAUR, successfully and determine the pose of several polyhedral objects using 3D information of vertexes on the outline of an object in image plane
Keywords :
attitude measurement; feedback; image matching; real-time systems; robot vision; stereo image processing; 3D pose determination; 3D pose estimation; CENTAUR; KIST; backprojection; binocular head system; feature matching; feedback element; human-friendly robot; humanoid robot; intelligent robotic assembly; polyhedral object pose determination; real images; stereo matching algorithm; vertexes; vision-guided control; Computer displays; Feedback; Head; Humanoid robots; Image recognition; Image reconstruction; Intelligent robots; Robot vision systems; Robotic assembly; Three dimensional displays;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
Type :
conf
DOI :
10.1109/IROS.1999.812843
Filename :
812843
Link To Document :
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