Paper Info
Title
Catadioptric panoramic stereovision for humanoid robots
Abstract
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.
Year
DOI
Venue
2012
10.1017/S0263574711001068
Robotica
Keywords
DocType
Volume
Catadioptric panoramic stereovision,system configuration,omnidirectional stereovision system module,former humanoid,reconfigurable humanoid robot head,depth estimation,neck motion system,computer vision system,humanoid robot,proposed humanoid head,real-time catadioptric stereovision system
Journal
30
Issue
ISSN
Citations 
5
0263-5747
2
PageRank 
References 
Authors
0.48
7
5
Name
Order
Citations
PageRank
C. Salinas120.48
H. Montes2131.19
G. Fernandez320.48
P. Gonzalez de Santos415316.90
M. Armada520.48