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Catadioptric panoramic stereovision for humanoid robots

AuthorsSalinas, Carlota ; Montes, Héctor ; Fernández, Gerardo; González-de-Santos, Pablo ; Armada, Manuel
KeywordsOmnidirectional stereovision
Visual servoing control
Humanoid robot head
Catadioptric panoramic cameras
Issue Date2011
PublisherCambridge University Press
CitationRobotica (2011)
AbstractThis paper proposes a novel design of a reconfigurable humanoid robot head, based on biological likeness of human being so that the humanoid robot could agreeably interact with people in various everyday tasks. The proposed humanoid head has a modular and adaptive structural design and is equipped with three main components: frame, neck motion system and omnidirectional stereovision system modules. The omnidirectional stereovision system module being the last module, a motivating contribution with regard to other computer vision systems implemented in former humanoids, it opens new research possibilities for achieving human-like behaviour. A proposal for a real-time catadioptric stereovision system is presented, including stereo geometry for rectifying the system configuration and depth estimation. The methodology for an initial approach for visual servoing tasks is divided into two phases, first related to the robust detection of moving objects, their depth estimation and position calculation, and second the development of attention-based control strategies. Perception capabilities provided allow the extraction of 3D information from a wide range of visions from uncontrolled dynamic environments, and work results are illustrated through a number of experiments.
DescriptionThis paper was originally submitted under the auspices of the CLAWAR Association. It is an extension of work presented at CLAWAR 2009: The 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Istanbul, Turkey.
Publisher version (URL)http://dx.doi.org/10.1017/S0263574711001068
Appears in Collections:(CAR) Artículos
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