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In this paper, an overview of stereo vision, stereo image processing is introduced as well as a method of obstacle avoidance and navigation based on stereo vision for mobile robot is provided. Making use of 3-d stereo reconstruction, the recognition of visible terrain in front of the mobile robot is solved for successive obstacle avoidance. The area-based stereo reconstruction algorithm which combines...
This paper presented the application of stereo vision system for robot arm guidance application. The stereo vision system comprises the process of camera calibration, image rectification, stereo correspondences and 3D reconstruction. Camera calibration process was carried out to permit the extraction of camera intrinsic and extrinsic parameters for the image rectification purposes. Next, the image...
This paper provides an intuitive way to inference the space of a scene using stereo cameras. We first segmented the ground out of the image by adaptively learning the ground model in the image. We then used the convex hull to approximate the scene space. Objects within the scene can also be detected with the stereo cameras. Finally, we organized the scene space and the objects within the scene into...
This paper uses Bumblebee stereo vision system to reconstruct the 3D terrain for patrol robot. Firstly, with the selected points in the disparity image, the ground plane equation of the current frame is calculated by the RANSAC (Random Sample Consensus) algorithm, and then estimated and predicted by the Kalman filter. Secondly, the elevation image is obtained through the distance between the obstacle...
Visual maps of the seafloor should ideally provide the ability to measure individual features of interest in real units. Two-dimensional photomosaics cannot provide this capability without making assumptions that often fail over 3-D terrain, and are generally used for visualization, but not for measurement. Full 3-D structure can be recovered using stereo vision, structure from motion (SFM), or simultaneous...
Response to the demand of autonomous obstacle avoidance for mobile robot during operation, a obstacle avoidance system based on binocular stereo vision for mobile robot is developed. The system was developed with Matlab and stereo vision software “the Point Grey's Triclops SDK library”. With the techniques of camera calibration, stereo image matching, three-dimensional reconstruction, the three-dimensional...
This paper describes a 3D shape reconstruction method using vision sensors targeted at domestic robotics applications. We propose a new method to fuse stereo disparity map and Shape from “Silhouette” (SFS). What we mean by silhouette in this paper is different from the existing silhouette definition. The silhouette here is not obtained from back projecting the object contour to the image plane but...
Intelligent laser remanufacturing robot system has meant a revolution since it is convenient, flexible, high automatic and precise. It is based on industrial robot, vision, high-tech surface techniques and rapid prototyping technology. It has been developed quickly in recent years. Compared to the previous laser remanufacturing system, it has a high degree of automation due to the vision sensors....
This paper describes the design and testing of a technique to enable long-range autonomous navigation using a stereo camera as the only sensor. During a learning phase, the rover is piloted along a route capturing stereo images. The images are processed into a manifold map of topologically-connected submaps that may be used for localization during an autonomous repeat traverse. Path following in non-planar...
This paper proposes a new 3D reconstruction method of on-machine workepieces images based on projective rectifications. A set of monocular stereo system which uses a five-dimensional manipulator carrying a CCD camera was established on the NC milling machine. Projective rectification was used to stereo match in virtue of dimension reduction of match search. 3D reconstruction of the on-machine workpiece...
This paper presents a 3-second 3D reconstruction algorithm able to process a dense geometric approximation of the surrounding environment. Image acquisition is done by a stereoscopic panoramic system with two color catadioptric cameras mounted on a mobile robot. An algorithm running on a Graphical Processing Unit (GPU) processes the 3D reconstruction in real-time. As the camera system moves, new views...
The photometric stereo method (PSM) is a well known technique in the computer vision field that recovers 3D shape from a set of images of a still scene, using a single fixed-pose camera. Every image in the set is taken while a change in the direction of the light source occurs. Commonly, the acquisition of PMS imagery implies using rigid platforms with a static configuration of light sources. In this...
In this paper, a 3D leaf position measurement method based on stereo vision is proposed for guidance of an autonomous spray robot. A binocular stereo vision system is constructed by a single camera, which can move up and down on the vertical arm of the robot. With this vision system, a disparity map that contains the depth information of the plant leaves are calculated from the acquired image pairs...
This paper presents a modular software architecture based on a stereo camera system that makes real-time 3D perception, interaction and navigation for small humanoid robots possible. The hardware-independent architecture can be used for several purposes, like 3D visualisation, object recognition, self-localization, collision avoidance, etc. First of all, the intrinsic calibration parameters of the...
During locomotion, one of various important tasks, a biped robot has to perform is the identification of 3D environment. The present work addresses the problem of offline 3D reconstruction of the environment using a stereo-vision system. The developed stereo-vision system works based on the concept of an epipolar geometry. The mathematical model that interpolates 3D position of a point with the help...
This paper proposes a three-dimensional (3D) body scanning system that uses passive stereo vision with a robot arm. So far, the reported 3D body scanning systems employ active 3D measurement methods. However, active methods use structured illumination or laser scanning, which is not desirable in many systems applied to human. A major problem of using passive stereo vision for 3D measurement is its...
This paper proposes a scheme for a 3D metric reconstruction of the environment of a mobile robot. We first introduce the advantages of a catadioptric stereovision sensor for autonomous navigation and how we have designed it with respect to the Single Viewpoint constraint. For applications such as path generation, the robot needs a metric reconstruction of its environment, so calibration of the sensor...
This paper presents a novel technique to align partial 3D reconstructions of the seabed acquired by a stereo camera mounted on an autonomous underwater vehicle. Vehicle localization and seabed mapping is performed simultaneously by means of an Extended Kalman Filter. Passive landmarks are detected on the images and characterized considering 2D and 3D features. Landmarks are re-observed while the robot...
In order to determine the position of stereo camera on the mobile robot, whose motion center is unknown, a simple and effective method is proposed. No calibration equipment is needed. By extracting natural scene features based on non-maximal eigenvalue suppress and Harris corner detector, and matching them using grey level correlation and scene constrains, the space transformation relation between...
Binocular active hand-eye visual system on parallel mechanisms is a novel workspace monitoring mechanism, which fixed on the moving platform of a parallel mechanism with a circular orbit. Considering kinematic coupling between the parallel mechanism and the visual system, a general scheme based on the 3D reconstruct model of a binocular stereo vision is proposed to evaluate the control errors of the...
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