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A new active visual system for humanoid robots
Xu, De1; Li, You Fu2; Tan, Min1; Shen, Yang1
2008-04-01
发表期刊IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
卷号38期号:2页码:320-330
文章类型Article
摘要In this paper, a new active visual system is developed, which is based on bionic vision and is insensitive to the property of the cameras. The system consists of a mechanical platform and two cameras. The mechanical platform has two degrees of freedom of motion in pitch and yaw, which is equivalent to the neck of a humanoid robot. The cameras are mounted on the platform. The directions of the optical axes of the two cameras can be simultaneously adjusted in opposite directions. With these motions, the object's images can be located at the centers of the image planes of the two cameras. The object's position is determined with the geometry information of the visual system. A more general model for active visual positioning using two cameras without a neck is also investigated. The position of an object can be computed via the active motions. The presented model is less sensitive to the intrinsic parameters of cameras, which promises more flexibility in many applications such as visual tracking with changeable focusing. Experimental results verify the effectiveness of the proposed methods.
关键词Active Vision Bionic Vision Humanoid Robot Positioning Visual System
WOS标题词Science & Technology ; Technology
关键词[WOS]CAMERA CALIBRATION
收录类别SCI
语种英语
WOS研究方向Automation & Control Systems ; Computer Science
WOS类目Automation & Control Systems ; Computer Science, Artificial Intelligence ; Computer Science, Cybernetics
WOS记录号WOS:000254029400005
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文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/9565
专题09年以前成果
作者单位1.Chinese Acad Sci, Inst Automat, Key Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China
2.City Univ Hong Kong, Dept Mfg Engn & Engn Management, Kowloon, Hong Kong, Peoples R China
推荐引用方式
GB/T 7714
Xu, De,Li, You Fu,Tan, Min,et al. A new active visual system for humanoid robots[J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS,2008,38(2):320-330.
APA Xu, De,Li, You Fu,Tan, Min,&Shen, Yang.(2008).A new active visual system for humanoid robots.IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS,38(2),320-330.
MLA Xu, De,et al."A new active visual system for humanoid robots".IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS 38.2(2008):320-330.
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