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Motivated by the demand of detecting surroundings for a humanoid robot, we developed an omnidirectional vision system for robot perception (OVROP) with 5 Degrees of Freedom (DOFs). OVROP is mainly composed by three components: hardware, control architecture and image processing. Endowed with compatible hardware and software interfaces, OVROP can be applied to a variety of robots. With the utilization...
In this paper, we describe a portable Omnidirectional Vision System for Environment Perception (OVSEP) with 5 Degrees of Freedom (DOFs). OVSEP has a modular design and it is equipped with three main components: hardware, control architecture and visual processing part (omnidirectional vision and stereovision). A face detection algorithm and a method for 3D reconstruction have been used to evaluate...
To enhance the safety of a humanoid robot when it is operating a complex environment, a number of methods that combine visual and force information have been presented. These methods are generally divided into two approaches. The first approach is to coordinate the visual controller and force controller in a parallel way, and the second approach is to coordinate them in series. However, these two...
One key technology for a humanoid robot is to sense the environment accurately and control the movement of the robot in realtime. This paper addresses this problem and focuses on the visual servoing control of an anthropomorphic robotic arm. A high precision, image-based visual servo algorithm for an eye-in-hand visual system is proposed to control the movement of the anthropomorphic arm. The control...
In this paper we describe a framework to improve the detection of ball hit events in tennis games by combining audio and visual information. Detection of the presence and timing of these events is crucial for the understanding of the game. However, neither modality on its own gives satisfactory results: audio information is often corrupted by noise and also suffers from acoustic mismatch between the...
The humanoid space robot is explored to substitute the astronauts for working in the dangerous space environment, and it can implement the tasks outside/inside the space satation. In order to simulate the weightless environment in space, we design a kind of passive mechanism, and with this, the robot can simulate the movement in space. On the base of this passive mechanism, in order to make the space...
To obtain the pose of a monocular camera installed on the robot relative to the static artificial landmarks in a prepared room is one of many good methods for indoor robot localization. However, the point correspondence problem caused by rotation of cameras and the point detection precision problem are not paid enough attention to. In this paper, we proposed a novel coplanar landmark and a method...
Because of great shock in the process of launching of rocket, structure deformation during work, displacement of sensors and other factors, the kinematic parameters of space manipulator will deviate from the parameters calibrated on the ground, which will decrease the positioning accuracy of space manipulator. Therefore, the space manipulator should be calibrated to ensure its positioning accuracy...
This paper presents a novel approach of 3D human posture recovering from monocular vision frame under the condition of which at least one depth value of a joint point is known in each monocular vision frame. This approach simplifies the calibration of CCD camera, and realizes the recovery of 3D human posture from monocular vision. Moreover, the methodology based on monocular vision can extensively...
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