Real Time 3D Robot Vision System based on Local Correlation Methods

基于局部相关法的实时3D机器人视觉系统

• 批准号: 04555055
• 负责人: INOUE Hirochika
• 金额: $ 8.19万
• 依托单位: The University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Developmental Scientific Research (B)
• 财政年份: 1992
• 资助国家: 日本
• 起止时间: 1992 至 1993
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-04555055/
• 关键词: local correlation method; robot vision; vision system; binocukar stereo vision; motion tracking; optical flow; visual feedback; visual servo; 実時間視覚システム; 局所相関演算チップ; 追跡型視覚; オプチカルフロ-演算; 距離マップ

We have succeeded to develop the real-time three dimensional robot vision systembased on local correlation image processing technique.The vision system provides the essential functions of robot vision ; real-time object tracking, motion detection and depth map generation.Although the local correlation method is heavy calculation, the vision system we have originally developed uses a special LSI (Motion Estimation Processor) chip which is designed for image compression.The system consists of multiple visual unit board which has a general processor and the special LSI.As the image is broadcasted into the multiple visual units, the system can perform to process the image in parallel. In each unit, it is possible to calculation motion detection and motion tracking based on the block matching method of local windows.The application of the vision system includes, three dimensional object tracking, even if the object turned, optical flow generation, stereo matching, and depthmap generation.The system is extended to accept color images by developing color decording board. The color information put the vision system robustness for veryfying the trackability of the local windows.We have applied the vision system to several robotic application, including autonomous mobile car navigation, real time visual servoing, vision based motion guidance of mobile robot, manipulators and legged robots.

我们成功地开发了基于局部相关图像处理技术的实时三维机器人视觉系统。该视觉系统提供了机器人视觉的基本功能；实时目标跟踪、运动检测和深度图生成。虽然局部相关方法计算量大，但我们最初开发的视觉系统使用了专门为图像压缩设计的LSI(运动估计处理器)芯片。系统由多个视觉单元板组成，该单元板具有通用处理器和专用LSI。当图像被广播到多个视觉单元时，系统可以并行处理图像。在每个单元中，可以基于局部窗口的块匹配方法计算运动检测和运动跟踪。该视觉系统的应用包括三维目标跟踪、即使目标转动、光流生成、立体匹配和深度图生成。通过开发彩色解码板，系统扩展到接受彩色图像。该视觉系统已经应用于多个机器人领域，包括自主移动汽车导航、实时视觉伺服、基于视觉的移动机器人运动引导、机械手和腿部机器人。

项目成果

稲葉 雅幸: "Robot Vision and LSI for Real-Time Processing" J.of Robotics and Mechatronics. 2. 13-17 (1992)

Masayuki Inaba：“用于实时处理的机器人视觉和 LSI”J.of Robotics and Mechatronics。2. 13-17 (1992)

國吉 康夫: "Indexicality and Dynamic Attension Control in Qualitative Recognition of Assembly Actions" Computer Vision (ECCV'92,Lecture Notes in Computer Science). 588. 874-878 (1992)

Yasuo Kuniyoshi：“装配动作定性识别中的索引性和动态注意力控制”计算机视觉（ECCV92，计算机科学讲义）588. 874-878 (1992)。

Y.Kuniyoshi and H.Inoue: "Quolitative Recognition of Ongoing Human Action Sequences" 13th Int.J Conf.Artificial Intelligence. 13. 1600-1609 (1993)

Y.Kuniyoshi 和 H.Inoue：“正在进行的人类行为序列的定性识别”第 13 届 Int.J Conf.Artificial Intelligence。

Y.Kuniyoshi and H.Inoue: "Qualitative Recognition of Ongoing Human Action Sequences" 13th.Int.J Conf.Artificial Intelligence. 13. 1600-1609 (1993)

Y.Kuniyoshi 和 H.Inoue：“正在进行的人类行为序列的定性识别”第 13 届 Int.J Conf.人工智能。

H.Inoue: "Vision Based Behavior:Observation and Control of Robot Behavior by Real-Time Tracking Vision" 6th Int.Symposium on Robotics Research. (1993)

H.Inoue：“基于视觉的行为：通过实时跟踪视觉观察和控制机器人行为”第六届机器人研究国际研讨会。