Proceedings ArticleDOI
Three-dimensional pose determination for a humanoid robot using binocular head system
Hong-Jae Kim,Bum-Jae You,Gregory D. Hager,Sang-Rok Oh,Chong Won Lee +4 more
- Vol. 2, pp 1204-1209
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TLDR
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.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.read more
Citations
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Journal ArticleDOI
Testbench calibration technique for testing attitude determination algorithms by video processing
Proceedings ArticleDOI
Research on Station Mode for Attitude Determination of Multiple Targets
TL;DR: In this article, several kinds of multi-CMOS station mode are introduced, and fundamental principles and classification of station mode directly affect on measurement parameters of the system, no matter what mode is designed, the ultimate goal is to extend Effective Viewing Field (EVF), increase capture ratio of objects and increase measurement precision.
Proceedings ArticleDOI
Station Mode for Attitude Determination of Small-Multi-Target with High Speed
TL;DR: In this paper, a multi-CMOS station mode is designed, multiple CMOS videos were placed on two parallel sides in measurement system, every two CMOS form an intersection viewing field, multiple viewing field join to cover shooting range, which can augment Effective Viewing Field(EVF), increase capture ratio of objects with high speed and measurement precision of small objects.
Attitude determination of small, dim and high-speed targets based on multi-CMOS intersecting system (EI CONFERENCE)
TL;DR: In this paper, an intersecting system based on multiple high-speed CMOS cameras was introduced to measure attitude of small, dim and high speed targets in a shooting range, where cameras were laid near from objects for small size.
Proceedings ArticleDOI
Attitude determination of small, dim and high-speed targets based on multi-CMOS intersecting system
TL;DR: In order to measure attitude of small, dim and high-speed targets in shooting range, intersecting system based on multiple high- speed CMOS cameras was introduced in this paper.
References
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Daniel DeMenthon,Larry S. Davis +1 more
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Journal ArticleDOI
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Proceedings ArticleDOI
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R. Mohr,F. Veillon,Long Quan +2 more
TL;DR: It is shown how relative 3-D reconstruction for point correspondence of multiple images from uncalibrated cameras can be achieved through reference points.
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