TY - GEN
T1 - Location and tracking of robot end-effector based on stereo vision
AU - Rajpar, Altaf Hussain
AU - Huang, Qiatig
AU - Pang, Yunting
AU - Tian, Yie
AU - Li, Kejie
PY - 2006
Y1 - 2006
N2 - In this paper stereo vision based tracking system for humanoid robot is proposed. The goal is to locate and track the end-effector in unknown and dynamic environments. A robust approach is developed by utilizing visual features. Identical visual features such as color, disparity and adaptive template matching are used to detect and track the end-effector robustly. An improved active search method is used in order to realize effective tracking of end-effector. Active search stereo vision system of humanoid robot is designed. Two computers are embedded in to the system to realize real time robust tracking of end-effector. One computer is used for processing visual information and other one is responsible for servo control of pan-tilt platform on which CCD cameras are mounted. The performance of the developed modular visual cues based tracking of end-effector is exploited through experiments.
AB - In this paper stereo vision based tracking system for humanoid robot is proposed. The goal is to locate and track the end-effector in unknown and dynamic environments. A robust approach is developed by utilizing visual features. Identical visual features such as color, disparity and adaptive template matching are used to detect and track the end-effector robustly. An improved active search method is used in order to realize effective tracking of end-effector. Active search stereo vision system of humanoid robot is designed. Two computers are embedded in to the system to realize real time robust tracking of end-effector. One computer is used for processing visual information and other one is responsible for servo control of pan-tilt platform on which CCD cameras are mounted. The performance of the developed modular visual cues based tracking of end-effector is exploited through experiments.
KW - End-effector tracking disparity
KW - Template matching and active search stereo platform
UR - http://www.scopus.com/inward/record.url?scp=46249093404&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2006.340089
DO - 10.1109/ROBIO.2006.340089
M3 - Conference contribution
AN - SCOPUS:46249093404
SN - 1424405718
SN - 9781424405718
T3 - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
SP - 1140
EP - 1145
BT - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
T2 - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Y2 - 17 December 2006 through 20 December 2006
ER -