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

• Published in: Proceedings 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
• Language: English
• Published: IEEE 1999
• Subjects: Computer displays; Feedback; Head; Humanoid robots; Image recognition; Image reconstruction; Intelligent robots; Robot vision systems; Robotic assembly; Three dimensional displays
• DOI: 10.1109/IROS.1999.812843
• ISBN: 0780351843; 9780780351844

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.