Research on a visual robot sensor with its sight-line ability.

点击翻译按钮获取中文摘要

It is important to develop robotic visual function as an input device for an intelligent robot system. We introduce human's eye control method, specially sight-line control ability, to robot's vision system. We contstruct an object recognition system for carrying out various tasks effectively using sensor fusion method for processing an image of the attention area and stereo vision method with a laser scanning device simultaneously.We make 3 dimensional visual sensing system with sight-line features for composing with two CCD cameras, laser scanning device, high-speed image processing device and a uinix-based workstation. This system can input robot operational scene by real time control to process edge information of an abject and obtain 3 dimensional information of a laser spot on the object. We also develope top-down recognition system to realize various operational aims intended to be recognized by a human operator. This system has features of optimaly selecting and combining several recognition methods of an intelligent robot.In this experiment, we consider a robot with visual sensor ability to grasp a cup with a grasping point by intelligently utilizing image processing and laser tracking method. This robot visual sensing method with sensor fusion features provides a foundation for realizing more usefull robot vision sensing system.