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Dependable 3D perception modules are essential for safe operation of robotic platforms. Furthermore, robot navigation and localization as well as object recognition tasks also require processing 2D color camera images. This information could be synchronously delivered by stereo vision sensors with the 3D information automatically mapped onto the 2D camera image. However, embedded real-time stereo...
This paper presents results from experiments on visual stereo matching for robot navigation. Visual features are stereo paired with respect to their pixel position. Stereo triangulating all paired visual features results in a set of landmarks whereof a subset are true landmarks. Constraining the horizontal disparity limits the amount of spurious matches. The stereo matching is validated by finding...
The robot technology is rapidly developing in recent years. In connection with this technology, a robot activity is expected in various places or various environments. Therefore, this study describes 1) how the location of the destination of the robot in real world is measured based on the image obtained by one camera and 2) how the robot is navigated to the destination where a user points out on...
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...
Current approaches to feature detection and matching in images strive to increase the repeatability of the detector and minimize the degree of outliers in the matching. In this paper we present a new approach; we suggest that a lower performance feature detector can produce a result more than adequate for robot navigation irrespectively of the amount of outliers. By using an FPGA together with two...
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