Three-dimensional pose determination for a humanoid robot using binocular head system

Hong Jae Kim, Bum Jae You, Gregory D. Hager, Sang Rok Oh, Chong Won Lee

Research output: Contribution to conferencePaperpeer-review

Abstract

There has been much interests on three-dimensional pose estimation of an object since there are a lot of robotic applications such as intelligent robotic assembly and/or vision-guided control of a humanoid or human-friendly robot. In this paper, there are proposed a simple and fast stereo matching algorithm for real-time robotic applications and an improved scheme for feature matching using three-dimensional information by adopting back-projection as a feedback element measuring the degree of feature matching. The degree of feature matching is determined by checking existence ratio of each feature point in real images after back-projecting an object model into image plane. The proposed pose determination algorithm is applied for a humanoid robot in KIST, whose name is CENTAUR, successfully and determine the pose of several polyhedral objects using 3-D information of vertexes on the outline of an object in image plane.

Original languageEnglish (US)
Pages1204-1209
Number of pages6
StatePublished - Dec 1 1999
Externally publishedYes
Event1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea
Duration: Oct 17 1999Oct 21 1999

Other

Other1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients'
CityKyongju, South Korea
Period10/17/9910/21/99

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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