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Stair-climbing and moving object grasping both require high precision information feedback of the feature coordinate. This manuscript mainly describes how to process the information acquired from the stereovision system in a fast and accurate way and how to use the data to compensate the progressive error caused by the humanoid robot. From camera calibration to image processing to stereo match, every...
This paper presents a camera calibration method that could be used in humanoid robot vision system. Extended Kalman filter is used to estimate camera parameters. This method can take planer board feature points of the image or the object's 3D axis as inputs when doing known motion, test results show this algorithm can get good results. If the camera parameters are known, the relationship between a...
A portable tracked robot with arms is introduced in this paper. A 3-DOF arm mounted on top of the robot is used to hold the sensor system, and the motions of robot's swing arms improve its obstacle performance. At first, the stability analysis of obstacle performance based on robot's CG position is discussed from crossing ditch and climbing obstacle. And then dynamic load (3-DOF arm) effect on the...
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