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Vision-Guided Walking in a Structured Indoor Scenario (CROSBI ID 119894)

Prilog u časopisu | izvorni znanstveni rad

Cupec, Robert ; Schmidt, Günther ; Lorch, Oliver Vision-Guided Walking in a Structured Indoor Scenario // Automatika : časopis za automatiku, mjerenje, elektroniku, računarstvo i komunikacije, 46 (2005), 1-2; 49-57-x

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

Povezanost rada

Elektrotehnika, Računarstvo