TY - GEN
T1 - Calibration and implementation of a novel omnidirectional vision system for robot perception
AU - Li, Chang
AU - Shi, Qing
AU - Wang, Chunbao
AU - Huang, Qiang
AU - Fukuda, Toshio
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016
Y1 - 2016
N2 - Motivated by the demand of detecting surroundings for a humanoid robot, we developed an omnidirectional vision system for robot perception (OVROP) with 5 Degrees of Freedom (DOFs). OVROP is mainly composed by three components: hardware, control architecture and image processing. Endowed with compatible hardware and software interfaces, OVROP can be applied to a variety of robots. With the utilization of black-box algorithm (BBA) and cylindrical coordinate transformation (CCT), OVROP allows undistorted omnidirectional perception of static surroundings. For the omnidirectional tracking of moving objects, subdivision method has been used and the experimental results prove its high efficiency. We have also confirmed that OVROP can perform 3D reconstruction of a desired target within 50ms. Thus OVROP is able to provide detailed information of surrounding environment with full range in real time for robot perception.
AB - Motivated by the demand of detecting surroundings for a humanoid robot, we developed an omnidirectional vision system for robot perception (OVROP) with 5 Degrees of Freedom (DOFs). OVROP is mainly composed by three components: hardware, control architecture and image processing. Endowed with compatible hardware and software interfaces, OVROP can be applied to a variety of robots. With the utilization of black-box algorithm (BBA) and cylindrical coordinate transformation (CCT), OVROP allows undistorted omnidirectional perception of static surroundings. For the omnidirectional tracking of moving objects, subdivision method has been used and the experimental results prove its high efficiency. We have also confirmed that OVROP can perform 3D reconstruction of a desired target within 50ms. Thus OVROP is able to provide detailed information of surrounding environment with full range in real time for robot perception.
UR - http://www.scopus.com/inward/record.url?scp=85016835884&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2016.7866386
DO - 10.1109/ROBIO.2016.7866386
M3 - Conference contribution
AN - SCOPUS:85016835884
T3 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
SP - 589
EP - 594
BT - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Y2 - 3 December 2016 through 7 December 2016
ER -