Memorias de investigación
Artículos en revistas:
Catadioptric panoramic stereovision for humanoid robots
Año:2011
Áreas de investigación
  • Ingeniería eléctrica, electrónica y automática
Datos
Descripción
This paper proposes a novel design of a reconfigurable humanoid robot head, based on biological likeness of human being so that the humanoid robot could agreeably interact with people in various everyday tasks. The proposed humanoid head has a modular and adaptive structural design and is equipped with three main components: frame, neck motion system and omnidirectional stereovision system modules. The omnidirectional stereovision system module being the last module, a motivating contribution with regard to other computer vision systems implemented in former humanoids, it opens new research possibilities for achieving human-like behaviour. A proposal for a real-time catadioptric stereovision system is presented, including stereo geometry for rectifying the system configuration and depth estimation. The methodology for an initial approach for visual servoing tasks is divided into two phases, first related to the robust detection of moving objects, their depth estimation and position calculation, and second the development of attention-based control strategies. Perception capabilities provided allow the extraction of 3D information from a wide range of visions from uncontrolled dynamic environments, and work results are illustrated through a number of experiments.
Internacional
No
JCR del ISI
No
Título de la revista
Robotica
ISSN
14698668
Factor de impacto JCR
Información de impacto
Volumen
30
DOI
10.1017/S0263574711001068
Número de revista
5
Desde la página
799
Hasta la página
811
Mes
SIN MES
Ranking
Esta actividad pertenece a memorias de investigación
Participantes
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC