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Research on Active Vision Sensor Planning

主动视觉传感器规划研究

基本信息

批准号：
08650511
负责人：
SAKANE Shigeyuki
金额：
$ 1.47万
依托单位：
CHUO UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1996
资助国家：
日本
起止时间：
1996 至 1998
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-08650511/
关键词：
sensor planning active vision センサクロクニング

项目摘要

We have developed a couple of systems aiming to establish active vision sensor planning technology which allows flexible and adaptive capabilities for robot systems. Following is a summary of the research :(1) We have developed a sensor planning system imbeded in a STRIPS-liketask planning system. As for the vision sensor planning, automatic determination of camera position and zoom control has been developed. Simulation experiments demonstrate effectiveness of the system.(2) Human visual system has evolved to have varying resolution in the retina : the fovea vision has very high resolution in a small region whereas the peripheral vision has low spatial resolution in a wide field. By taking these functions into account, we have developed an active vision system which permits tight cooperation between fovea and peripheral vision. We employed a pan-tilt camera for the fovea vision subsystem and stereo cameras with wide angle lenses for the peripheral vision subsystem. Since input images through the peripheral vision are geometrically deformed, we use a system which can perform real-time correction of the deformation. Experiments of a tracking task demonstrates fundamental functions and advantages of the proposed active vision system.(3) Recently much attention has been paid to Augmented Reality (AR) which supports human's daily life by blending multi modal information into real world, typically on the objects being considered. We make an attempt to make a flexible human-robot interface using an extended digital desk for guiding and teaching robot system. A prototype system consists of a projector subsystem for information display and a realtime tracking vision subsystem for recognizing human's action. We implemented two levels of interactions using a virtual teaching panel and projected real image of the task environment on a desk for intuitive teaching. Experiments of teaching robot tasks demonstrate usefulness of the proposed system.

我们已经开发了几个系统，旨在建立主动视觉传感器规划技术，允许灵活和自适应能力的机器人系统。（1）开发了一个传感器规划系统，该系统嵌入在一个类STRIP任务规划系统中。在视觉传感器的规划方面，研究了摄像机位置的自动确定和变焦控制。仿真实验验证了该系统的有效性。(2)人类视觉系统已经进化到在视网膜中具有不同的分辨率：中央凹视觉在小区域中具有非常高的分辨率，而周边视觉在宽视场中具有低的空间分辨率。考虑到这些功能，我们已经开发出一种主动视觉系统，它允许中央凹和周边视觉之间的紧密合作。我们采用了一个云台相机的中央凹视觉子系统和立体相机与广角镜头的周边视觉子系统。由于通过周边视觉输入图像的几何变形，我们使用的系统，可以执行实时校正的变形。跟踪任务的实验表明，所提出的主动视觉系统的基本功能和优势。(3)近年来，增强现实技术（Augmented Reality，简称AR）通过将多模态信息融合到真实的世界中来支持人们的日常生活，特别是在所考虑的对象上。我们尝试使用一个可扩充的数位桌来建立一个灵活的人机介面，以供机器人导引与教学之用。原型系统包括一个用于信息显示的投影子系统和一个用于识别人的动作的实时跟踪视觉子系统。我们实现了两个层次的互动，使用虚拟教学面板和投影真实的图像的任务环境在桌子上直观的教学。教学机器人任务的实验表明，该系统的实用性。