서지주요정보
로보트의 작업에 응용 가능한 물체인식을 위한 스테레오 알고리즘 = Stereo algorithm for object recognition with applications to robotic operations
서명 / 저자 로보트의 작업에 응용 가능한 물체인식을 위한 스테레오 알고리즘 = Stereo algorithm for object recognition with applications to robotic operations / 이정수.
저자명 이정수 ; Lee, Jeong-Su
발행사항 [서울 : 한국과학기술원, 1989].
Online Access 원문보기 원문인쇄

소장정보

등록번호

4105447

소장위치/청구기호

학술문화관(문화관) 보존서고

DEE 8912

휴대폰 전송

도서상태

이용가능

대출가능

반납예정일

초록정보

The stereo vision system endows a robot with intelligence and flexibility since some three-dimensional properties can be extracted from it. In order to apply the 3-D vision to the robotic operations, the vision system should satisfy requirements such as the real-time processing, portability and low cost implementation. The conventional stereo algorithms for 3-D vision are, however, very complex and time consuming. The purpose of this research is to develop a simple and computationally efficient stereo algorithm which is suitable for applications to robotic operations. The concept of the superimposed difference image is introduced in the proposed algorithm. It is shown that, under certain conditions, the features exist in the form of pairs in the superimposed difference image. The disparities and the depth map are determined by searching the paired features within the searching window. The complex stereo matching problem is avoided since only the superimposed difference image is processed to extract the features. The depth map is used to obtain three-dimensional properties of objects. The object is approximated by a hexahedron and the vertices of the hexahedron are obtained by detecting the extreme points of the top view and the side view which are projections of the depth map onto the plane. The occupied space of object is determined for obstacle detection of robot, and the three-dimensional properties such as the 3-D centroid, size and orientation are determined for the robotic manipulation such as the pick-up of an object. The experiments are performed in a laboratory setting and the results for depth map and three-dimensional properties of objects are obtained satisfactorily. The analysis for the noise effect and a comparative study with a typical stereo algorithm are also performed.

서지기타정보

서지기타정보
청구기호 {DEE 8912
형태사항 iii, 95 p. : 삽도, 사진 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Jeong-Su Lee
지도교수의 한글표기 : 변증남
지도교수의 영문표기 : Zeung-Nam Bien
학위논문 학위논문(박사) - 한국과학기술원 : 전기및전자공학과,
서지주기 참고문헌 : p. 90-94
주제 Robot --Control systems.
Stereoscopic television. d a Stereoscopic cameras.
Depth perception.
컴퓨터 비젼. --과학기술용어시소러스
물체 인식. --과학기술용어시소러스
지능 로봇. --과학기술용어시소러스
패턴 인식. --과학기술용어시소러스
입체 지각. --과학기술용어시소러스
Robot vision.
QR CODE qr code