Vision-Guided Walking in a Structured Indoor Scenario (CROSBI ID 119894)
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Podaci o odgovornosti
Cupec, Robert ; Schmidt, Günther ; Lorch, Oliver
engleski
Vision-Guided Walking in a Structured Indoor Scenario
Locomotion of a biped robot in a scenario with obstacles requires a high degree of coordination between perception and walking. This article presents key ideas of a vision-based strategy for guidance of walking robots in structured scenarios. Computer vision techniques are employed for reactive adaptation of step sequences allowing a robot to step over or upon or walk around obstacles. Highly accurate feedback information is achieved by a combination of line-based scene analysis and real-time feature tracking. The proposed vision-based approach was evaluated by experiments with a real humanoid robot.
biped walking robots; image processing; obstacle detection
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Podaci o izdanju
46 (1-2)
2005.
49-57-x
objavljeno
0005-1144