Naslov
Object Recognition and Estimation of Camera Orientation for Walking Machines

Autori
Cupec, Robert ; Lorch, Oliver ; Schmidt Guenther

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
17. Fachgespräch Autonome Mobile Systeme (AMS 2001) / Levi, P. ; Schanz, M. - Stuttgart : Springer, 2001, 1-10

Skup
17. Fachgespräch Autonome Mobile Systeme (AMS 2001)

Mjesto i datum
Stuttgart, Njemačka, 11.10.2001. - 12.10.2001

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Stereo Vision; Walking Robots; Object Recognition

Sažetak
In this article, techniques in design of a vision system for walking machines are considered and solutions to some problems particularly connected to walking are proposed. Unlike a wheeled robot, a walking robot represents a rather long kinematic chain connecting its camera system to the ground. The camera orientation obtained by internal sensors is not sufficiently accurate, because of the variable kinematics of a walking robot and the vibrations caused by walking. However, this information is very useful for efficient scene interpretation. The algorithm proposed in this article estimates the orientation of the camera system using the pose of recognized objects. Since the information of the camera orientation is not available prior to object recognition, the objects have to be recognized by certain features invariant to rotations and translations in 6 DoF.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

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