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Research for 3D Space Map Acquisition for Robot by Combining Active Motion and Visual Perception

主动运动与视觉感知相结合的机器人3D空间地图获取研究

基本信息

批准号：
15360213
负责人：
DEGUCHI Koichiro
金额：
$ 9.28万
依托单位：
Tohoku University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2003
资助国家：
日本
起止时间：
2003 至 2005
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-15360213/
关键词：
Computer Vision Active Vision 3-Dimension Vision Space Perception Robot Vision Motion Image Processing Camera Calibration Cooperative Vision

项目摘要

This research project aimed to develop an active vision strategy to let a robot obtain 3D scene understanding from his stereo eyes. That is, the robot constructs a 3D map of an unknown environment by himself using his own eyes (cameras) and his own intentional actions. The task to get to know the external world using vision is absolutely difficult for artificial systems, such as robots, while our human achieves it easily without teacher or advance knowledge. In this research, we placed an answer based on a key concept of the invariance against our actions.We reported a realization of the direct perception of three-dimensional space in a robot. We proposed a method to calibrate the stereo eyes of a robot to build 3D map in his brain. It does not need an external reference of calibration objects but a combination of active motion and visual perception.The idea is common to so-called the self-calibration to some extent. But, the calibration and the following construction of the 3D map still considered separately in the self-calibration. In our method, we combine action and vision to achieve totally efficient calibration and the construction of the 3D map. We rely only on the consistency in the calibration results. We introduced the fact that "stationary object both in the real environment and on the robot's 3D map never moves even when the robot moves around". This means that we accept a calibration error and resulting geometric distortion of the constructed 3D map. We consider that the most important for the 3D map is the consistency between the intended motion of the robot and the perceived image by the robot.We showed the feasibility of this idea with plenty of simulation experiments and implementation on actual robots.

本研究旨在发展一种主动视觉策略，让机器人从立体视觉中获得3D场景的理解。也就是说，机器人使用自己的眼睛（摄像机）和自己的有意动作自己构建未知环境的3D地图。使用视觉来了解外部世界的任务对于人工系统（如机器人）来说是绝对困难的，而我们的人类在没有老师或先进知识的情况下很容易做到。在这项研究中，我们放置了一个答案的基础上的一个关键概念的不变性对我们的行动。我们报告了一个实现的直接感知三维空间的机器人。提出了一种标定机器人立体眼睛的方法，用于在机器人大脑中构建三维地图。它不需要外部标定物的参考，而是将主动运动和视觉感知结合起来，这种思想在一定程度上与所谓的自标定是相通的。但是，在自标定中，标定和随后的3D图的构建仍然是分开考虑的。在我们的方法中，我们结合联合收割机的行动和视觉，以实现完全有效的校准和三维地图的建设。我们只依赖于校准结果的一致性。我们介绍了这样一个事实，即“即使机器人四处移动，真实的环境中和机器人3D地图上的静止物体也不会移动”。这意味着我们接受校准误差和所构建的3D地图的所产生的几何失真。我们认为对于3D地图最重要的是机器人的预期运动和机器人感知到的图像之间的一致性，我们通过大量的仿真实验和实际机器人的实现来证明这一想法的可行性。

项目成果

期刊论文数量（53）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

HHMM Based Recognition of Human Activity Motion Trajectories in Image Sequences

基于 HHMM 的图像序列中人体活动运动轨迹识别

DOI：
发表时间：
2005
期刊：
Proceedings of the 9th IAPR Conference on Machine Vision Applications (MVA2005)
影响因子：
0
作者：
Daiki KAWANAKA;Shun USHIDA;Takayuki OKATANI;Koichiro DEGUCHI
通讯作者：
Koichiro DEGUCHI

A scale-space analysis of a contour figure using a crystalline flow

使用结晶流对轮廓图进行尺度空间分析