Design and Development of a Small Stereovision Sensor Module for Small Self-Contained Autonomous Robots

Autor:	Takeshi Morishita, Hirochika Inoue, Marika Hayashi, Kei Okada, Masayuki Inaba
Rok vydání:	2005
Předmět:	General Computer Science Machine vision Computer science business.industry Template matching Interface (computing) Image processing Robot control Robot Computer vision Artificial intelligence Electrical and Electronic Engineering Image sensor business Humanoid robot
Zdroj:	Journal of Robotics and Mechatronics. 17:248-254
ISSN:	1883-8049 0915-3942
DOI:	10.20965/jrm.2005.p0248
Popis:	We designed a small stereovision (SSV) sensor module for easily adding visual functions to a small robot and enabling their use. The SSV sensor module concept includes 1) a vision sensor module containing a camera and a visual processor and 2) connecting to a robot system through general-purpose interface. This design enables the use of visual functions as ordinary sensors such, as touch or ultra-sonic sensors, by simply connecting a general-purpose interface port such as an IO port or serial connector. We developed a prototype module with small CMOS image sensors for a mobile phone and a 16 bit microprocessor. The 30×40mm prototype is small enough to attach even to palm-top robots. Our module demonstrates image processing including binarization, color extraction and labeling, and template matching. We developed self-contained robots, including a 2DOF head robot, a humanoid robot, and a palm-top robot, and realized vision-based autonomous behavior.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::aac54d10a8385946af3e7b229aca4e37 https://doi.org/10.20965/jrm.2005.p0248 Zobrazit plný text záznamu