Binocular vision planning with anthropomorphic features for grasping parts by robots

作     者：Chung, JM Nagata, T 

作者机构：[a1]Department of Computer Science and Communication Engineering Kyushu University Fukuoka 812-81(Japan) e-mail: chung@nagata.ai.kyushu-u.ac.jp 

出 版 物：《ROBOTICA》 (机器人学)

年 卷 期：1996年第14卷第3期

页      面：269-279页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 0811[工学-控制科学与工程] 

主　　题：binoecular vision grapsing robots anthromorphic features 

摘      要：Planning of an active vision having anthropomorphic features, such as binocularity, foveas and gaze control, is proposed. The aim of the vision is to provide robots with the pose informaton of an adequate object to be grasped by the robots. For this, the paper describes a viewer-oriented fixation point frame and its calibration, active motion and gaze control of the vision, disparity filtering, zoom control, and estimation of the pose of a specific portion of a selected object. On the basis of the importance of the contour information and the scheme of stereo vision in recognizing objects by humans, the occluding contour pairs of objects are used as inputs in order to show the proposed visual planning.