Design and implementation of an omnidirectional vision system for robot perception

Qing Shi; Chang Li; Chunbao Wang; Haibo Luo; Qiang Huang; Toshio Fukuda

doi:10.1016/j.mechatronics.2016.11.005

Design and implementation of an omnidirectional vision system for robot perception

Qing Shi^*, Chang Li, Chunbao Wang, Haibo Luo, Qiang Huang, Toshio Fukuda

^*Corresponding author for this work

School of Mechatronical Engineering

Research output: Contribution to journal › Article › peer-review

31 Citations (Scopus)

Abstract

To meet the demand of surrounding detection of a humanoid robot, we developed an omnidirectional vision system for robot perception (OVROP) with 5 Degrees of Freedom (DOFs). OVROP has a modular design and mainly consists of three parts: hardware, control architecture and visual processing part (omnidirectional vision and stereovision). As OVROP is equipped with universal hardware and software interfaces it can be applied to various types of robots. Our performance evaluation proves that OVROP can accurately detect and track an object with 360° field of view (FOV). Besides, undistorted omnidirectional perception of surroundings can be achieved through calibrations of both monocular and stereo cameras. Furthermore, our preliminary experimental results show that OVROP can perceive a desired object within 160 ms in most cases. As a result, OVROP can provide detailed information on surrounding environment for full-scope and real-time robot perception.

Original language	English
Pages (from-to)	58-66
Number of pages	9
Journal	Mechatronics
Volume	41
DOIs	https://doi.org/10.1016/j.mechatronics.2016.11.005
Publication status	Published - 1 Feb 2017

Keywords

Mechatronic system
Omnidirectional vision
Robotics
Stereo vision

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10.1016/j.mechatronics.2016.11.005

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title = "Design and implementation of an omnidirectional vision system for robot perception",

abstract = "To meet the demand of surrounding detection of a humanoid robot, we developed an omnidirectional vision system for robot perception (OVROP) with 5 Degrees of Freedom (DOFs). OVROP has a modular design and mainly consists of three parts: hardware, control architecture and visual processing part (omnidirectional vision and stereovision). As OVROP is equipped with universal hardware and software interfaces it can be applied to various types of robots. Our performance evaluation proves that OVROP can accurately detect and track an object with 360° field of view (FOV). Besides, undistorted omnidirectional perception of surroundings can be achieved through calibrations of both monocular and stereo cameras. Furthermore, our preliminary experimental results show that OVROP can perceive a desired object within 160 ms in most cases. As a result, OVROP can provide detailed information on surrounding environment for full-scope and real-time robot perception.",

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author = "Qing Shi and Chang Li and Chunbao Wang and Haibo Luo and Qiang Huang and Toshio Fukuda",

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AU - Shi, Qing

AU - Li, Chang

AU - Wang, Chunbao

AU - Luo, Haibo

AU - Huang, Qiang

AU - Fukuda, Toshio

PY - 2017/2/1

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N2 - To meet the demand of surrounding detection of a humanoid robot, we developed an omnidirectional vision system for robot perception (OVROP) with 5 Degrees of Freedom (DOFs). OVROP has a modular design and mainly consists of three parts: hardware, control architecture and visual processing part (omnidirectional vision and stereovision). As OVROP is equipped with universal hardware and software interfaces it can be applied to various types of robots. Our performance evaluation proves that OVROP can accurately detect and track an object with 360° field of view (FOV). Besides, undistorted omnidirectional perception of surroundings can be achieved through calibrations of both monocular and stereo cameras. Furthermore, our preliminary experimental results show that OVROP can perceive a desired object within 160 ms in most cases. As a result, OVROP can provide detailed information on surrounding environment for full-scope and real-time robot perception.

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KW - Mechatronic system

KW - Omnidirectional vision

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KW - Stereo vision

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Design and implementation of an omnidirectional vision system for robot perception

Abstract

Keywords

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