Naslov
Vision-Guided Walking in a Structured Indoor Scenario

Autori
Cupec, Robert ; Schmidt, Günther ; Lorch, Oliver

Izvornik
AUTOMATIKA - časopis za automatiku, mjerenje, elektroniku, računarstvo i komunikacije (0005-1144) 46 (2005), 1-2; 49-57

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
biped walking robots; image processing; obstacle detection

Sažetak
Locomotion of a biped robot in a scenario with obstacles requires a high degree of coordination between perception and walking. This article presents key ideas of a vision-based strategy for guidance of walking robots in structured scenarios. Computer vision techniques are employed for reactive adaptation of step sequences allowing a robot to step over or upon or walk around obstacles. Highly accurate feedback information is achieved by a combination of line-based scene analysis and real-time feature tracking. The proposed vision-based approach was evaluated by experiments with a real humanoid robot.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo

POVEZANOST RADA