Terrain perception for a reconfigurable biomimetic robot using monocular vision
نویسندگان
چکیده
منابع مشابه
Local Terrain Mapping for Obstacle Avoidance using Monocular Vision
We present a method for navigation of a small unmanned rotorcraft through an unsurveyed environment consisting of forest and urban canyons. Optical flow measurements obtained from a vision system are fused with measurements of vehicle velocity to compute estimates of range to obstacles. These estimates are used to populate a local occupancy grid which is fixed to the vehicle. This local occupan...
متن کاملA Reconfigurable USAR Robot Designed for Traversing Complex 3D Terrain
The use of robotics in Urban Search and Rescue (USAR) is growing steadily from their initial inception during the 2001 World Trade Centre incident. These first USAR robots were adapted from robots intended for tasks such as duct inspection and bomb disposal and proved useful for exploring voids (spaces within the collapsed structure) deemed too dangerous or too small for either canine or human ...
متن کاملPerception and Control for a Humanoid Robot using Vision
This paper provides a summary of our research towards developing a humanoid robot capable of performing interactive manipulation tasks in a domestic/office environment. Visual sensing makes important contributions to all areas of task specification, planning and actuation by enabling the robot to interact through gesture recognition, recognize and locate objects and obstacles, and employ visual...
متن کاملMobile Robot Localization and Map Building using Monocular Vision
In this paper we analyze the fundamental aspects of the construction of indoor maps suitable for their use in navigation tasks by a mobile robot We highlight the limitations inherent to the use of a priori maps We show the fundamental problems related to the simultaneous construction of the map and the localization of the robot within this map We describe an experiment with the use of a monocul...
متن کاملMonocular Vision based Indoor Mobile Robot
This paper presents the indoor mobile robot that moves automatically without needing environment information beforehand while recognizing the frontal surrounding environment with only one general camera. Based on the frontal image, the robot detects two boundary lines, some obstacle regions, and a moving direction. When the obstacle is detected, the avoidance or stop movement is worked accordin...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Robotics and Biomimetics
سال: 2014
ISSN: 2197-3768
DOI: 10.1186/s40638-014-0023-2