Realtime Color Segmentation, Optical Flow, Depthmap Generation Integration for Mobile Robot Control

实际上，从安全的角度来看，机器人的工作空间与人类的生活空间是分开的。为了使机器人在人类生活中发挥作用，需要利用传感技术来检测人类。本研究将颜色分割、光流生成和深度图生成相结合，开发一种在机器人运动的同时检测行走或移动的人的机器人视觉系统。以下是研究课题的列表。2.从相关性计算出发的颜色分割方法；2 .基于光流生成的边界检测；从立体摄像机生成深度图；高速三轴机器人头部的研制；6.可变形目标的时空区域分割；具有车载视觉处理系统的移动机器人的研制；最后，利用所开发的技术，实现了人类行走环境下移动机器人的控制。从实验的角度出发，对工艺进行了评价和改进。

Actually, from the point of view of safety, working space of robot is separated from life space of human being. In order to utilize a robot in a human life, sensing technology to detect human being is required. This research aims to develop a robot vision system that can detect walking or moving human being while robot is also moving, by combining color segmentation, optical flow generation and depth map generation. Following is a list of research topics,1. Color segmentation method from correlation calculation,2. Boundary detection using optical flow generation,3. Depth map generation from stereo cameras,4. Development of high speed three axis robot head,5. Spacio-temporal region segmentation for deformable target,6. Development of mobile robot which has 0nboard vision processing system,7. ExperimentsFinally, using the techniques that have developed, mobile robot control under human being walking environment is achieved. Throughout from experiment, evaluation of the techniques and improvement are reported.