Development of Image Transceiver for Knowledge Sharing between Robot and its Users

本研究的目的是开发用户友好的机器人，通过图像投影到真实物体上，使机器人易于通信。为了达到这一目的，我们设计并开发了投影仪摄像系统图像收发器，该系统由投影仪和摄像机组成，它们具有共同的光轴。此外，作为将图像投影到运动目标上的关键技术，我们开发了一种对光照变化等不良条件具有鲁棒性的运动目标跟踪方法，以及一种从低质量图像中稳健地估计光流的方法。

The purpose of this research is to develop user friendly robots with easy communication by image projection to real objects. To achieve this purpose, we designed and developed the projector camera system Image Transceiver consisted of the projector and camera which have a common optical axis. Also, as essential technique to project images on moving objects, we developed a tracking method for moving objects which is robust against ill conditions such as illumination change, and a method which estimates the optical flow robustly from low quality images.