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Binocular vision planning with anthropomorphic features for grasping parts by robots

Published online by Cambridge University Press:  09 March 2009

Jae-Moon Chung  and
Tadashi Nagata
Jae-Moon Chung
Affiliation:
Department of Computer Science and Communication EngineeringKyushu University, Fukuoka, 812-81(Japan) e-mail: chung@nagata.ai.kyushu-u.ac.jp
Tadashi Nagata
Affiliation:
Department of Computer Science and Communication EngineeringKyushu University, Fukuoka, 812-81(Japan) e-mail: chung@nagata.ai.kyushu-u.ac.jp
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Summary

Planning of an active vision having anthropomorphic features, such as binocularity, foveas and gaze control, is proposed. The aim of the vision is to provide robots with the pose informaton of an adequate object to be grasped by the robots. For this, the paper describes a viewer-oriented fixation point frame and its calibration, active motion and gaze control of the vision, disparity filtering, zoom control, and estimation of the pose of a specific portion of a selected object. On the basis of the importance of the contour information and the scheme of stereo vision in recognizing objects by humans, the occluding contour pairs of objects are used as inputs in order to show the proposed visual planning.

Keywords

Binoecular visionGraspingRobotsAnthrornorphic features
Type
Article
Information
Robotica , Volume 14 , Issue 3 , May 1996 , pp. 269 - 279
Copyright
Copyright © Cambridge University Press 1996

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