Three-dimensional pose determination for a humanoid robot using binocular head system

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 a...

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Bibliographic Details
Published inProceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289) Vol. 2; pp. 1204 - 1209 vol.2
Main Authors Hong-Jae Kim, Bum-Jae You, Hager, G.D., Sang-Rok Oh, Chong Won Lee
Format Conference Proceeding
LanguageEnglish
Published IEEE 1999
Subjects
Computer displays
Feedback
Head
Humanoid robots
Image recognition
Image reconstruction
Intelligent robots
Robot vision systems
Robotic assembly
Three dimensional displays
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Summary: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.
ISBN:0780351843
9780780351844
DOI:10.1109/IROS.1999.812843