期刊
MECHATRONICS
卷 41, 期 -, 页码 58-66出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechatronics.2016.11.005
关键词
Robotics; Mechatronic system; Omnidirectional vision; Stereo vision
类别
资金
- National Natural Science Foundation of China (NSFC) [61403032]
- Open Research Fund Program of Beijing Key Laboratory of Robot Bionics and Function Research
- Scientific Reseach Starting Foundation for the Returned Overseas Chinese Scholars by the Ministry of Education
- Beijing Nova Program
To meet the demand of surrounding detection of a humanoid robot, we developed an omnidirectional vision system for robot perception (OVROP) with 5 Degrees of Freedom (DOFs). OVROP has a modular design and mainly consists of three parts: hardware, control architecture and visual processing part (omnidirectional vision and stereovision). As OVROP is equipped with universal hardware and software interfaces it can be applied to various types of robots. Our performance evaluation proves that OVROP can accurately detect and track an object with 360 field of view (FOV). Besides, undistorted omnidirectional perception of surroundings can be achieved through calibrations of both monocular and stereo cameras. Furthermore, our preliminary experimental results show that OVROP can perceive a desired object within 160 ms in most cases. As a result, OVROP can provide detailed information on surrounding environment for full-scope and real-time robot perception. (C) 2016 Elsevier Ltd. All rights reserved.
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