engleski

Object Recognition and Estimation of Camera Orientation for Walking Machines

In this article, techniques in design of a vision system for walking machines are considered and solutions to some problems particularly connected to walking are proposed. Unlike a wheeled robot, a walking robot represents a rather long kinematic chain connecting its camera system to the ground. The camera orientation obtained by internal sensors is not sufficiently accurate, because of the variable kinematics of a walking robot and the vibrations caused by walking. However, this information is very useful for efficient scene interpretation. The algorithm proposed in this article estimates the orientation of the camera system using the pose of recognized objects. Since the information of the camera orientation is not available prior to object recognition, the objects have to be recognized by certain features invariant to rotations and translations in 6 DoF.

Stereo Vision; Walking Robots; Object Recognition

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