• Title, Summary, Keyword: stereo vision

Search Result 512, Processing Time 0.046 seconds

Visual Servoing of a Mobile Manipulator Based on Stereo Vision (스테레오 영상을 이용한 이동형 머니퓰레이터의 시각제어)

  • Lee Hyun Jeong;Park Min Gyu;Lee Min Cheol
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.11 no.5
    • /
    • pp.411-417
    • /
    • 2005
  • In this study, stereo vision system is applied to a mobile manipulator for effective tasks. The robot can recognize a target and compute the potion of the target using a stereo vision system. While a monocular vision system needs properties such as geometric shape of a target, a stereo vision system enables the robot to find the position of a target without additional information. Many algorithms have been studied and developed for an object recognition. However, most of these approaches have a disadvantage of the complexity of computations and they are inadequate for real-time visual servoing. Color information is useful for simple recognition in real-time visual servoing. This paper addresses object recognition using colors, stereo matching method to reduce its calculation time, recovery of 3D space and the visual servoing.

Position Control of Robot Manipulator based on stereo vision system (스테레오 비젼에 기반한 6축 로봇의 위치 결정에 관한 연구)

  • 조환진;박광호;기창두
    • Proceedings of the Korean Society of Precision Engineering Conference
    • /
    • /
    • pp.590-593
    • /
    • 2001
  • In this paper we describe the 6-axes robot's position determination using a stereo vision and an image based control method. When use a stereo vision, it need a additional time to compare with mono vision system. So to reduce the time required, we use the stereo vision not image Jacobian matrix estimation but depth estimation. Image based control is not needed the high-precision of camera calibration by using a image Jacobian. The experiment is executed as devide by two part. The first is depth estimation by stereo vision and the second is robot manipulator's positioning.

  • PDF

Visual Servoing of a Mobile Manipulator Based on Stereo Vision

  • Lee, H.J.;Park, M.G.;Lee, M.C.
    • 제어로봇시스템학회:학술대회논문집
    • /
    • /
    • pp.767-771
    • /
    • 2003
  • In this study, stereo vision system is applied to a mobile manipulator for effective tasks. The robot can recognize a target and compute the position of the target using a stereo vision system. While a monocular vision system needs properties such as geometric shape of a target, a stereo vision system enables the robot to find the position of a target without additional information. Many algorithms have been studied and developed for an object recognition. However, most of these approaches have a disadvantage of the complexity of computations and they are inadequate for real-time visual servoing. However, color information is useful for simple recognition in real-time visual servoing. In this paper, we refer to about object recognition using colors, stereo matching method, recovery of 3D space and the visual servoing.

  • PDF

Investigation on the Real-Time Environment Recognition System Based on Stereo Vision for Moving Object (스테레오 비전 기반의 이동객체용 실시간 환경 인식 시스템)

  • Lee, Chung-Hee;Lim, Young-Chul;Kwon, Soon;Lee, Jong-Hun
    • IEMEK Journal of Embedded Systems and Applications
    • /
    • v.3 no.3
    • /
    • pp.143-150
    • /
    • 2008
  • In this paper, we investigate a real-time environment recognition system based on stereo vision for moving object. This system consists of stereo matching, obstacle detection and distance estimation. In stereo matching part, depth maps can be obtained real road images captured adjustable baseline stereo vision system using belief propagation(BP) algorithm. In detection part, various obstacles are detected using only depth map in case of both v-disparity and column detection method under the real road environment. Finally in estimation part, asymmetric parabola fitting with NCC method improves estimation of obstacle detection. This stereo vision system can be applied to many applications such as unmanned vehicle and robot.

  • PDF

Extraction of depth information on moving objects using a C40 DSP board (C40 DSP 보드를 이용한 이동 물체의 깊이 정보 추출)

  • 박태수;모준혁;최익수;박종안
    • 제어로봇시스템학회:학술대회논문집
    • /
    • /
    • pp.5-7
    • /
    • 1996
  • We propose a triangulation method based on stereo vision angles. We setup stereo vision systems which extract the depth information to a moving object by detecting a moving object using difference image method and obtaining the depth information by the triangulation method based on stereo vision angles. The feature point of a moving object is used the geometrical center of the moving object, and the proposed vision system has the accuracy of 0.2mm in the range of 400mm.

  • PDF

Analysis of Distance Error of Stereo Vision System for Obstacle Recognition System of AGV (AGV의 장애물 판별을 위한 스테레오 비젼시스템의 거리오차 해석)

  • 조연상;배효준;원두원;박흥식
    • Proceedings of the Korean Society of Precision Engineering Conference
    • /
    • /
    • pp.170-173
    • /
    • 2001
  • To apply stereo vision system to obstacle recognition system of AGV, we constructed algorithm of stereo matching and distance measuring with stereo image for positioning of object in area. And using this system, we look into the error between real position and measured position, and studied relationship of compensation.

  • PDF

An active stereo camera modeling (동적 스테레오 카메라 모델링)

  • Do, Kyoung-Mihn;Lee, Kwae-Hi
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.3 no.3
    • /
    • pp.297-304
    • /
    • 1997
  • In stereo vision, camera modeling is very important because the accuracy of the three dimensional locations depends considerably on it. In the existing stereo camera models, two camera planes are located in the same plane or on the optical axis. These camera models cannot be used in the active vision system where it is necessary to obtain two stereo images simultaneously. In this paper, we propose four kinds of stereo camera models for active stereo vision system where focal lengths of the two cameras are different and each camera is able to rotate independently. A single closed form solution is obtained for all models. The influence of the stereo camera model to the field of view, occlusion, and search area used for matching is shown in this paper. And errors due to inaccurate focal length are analyzed and simulation results are shown. It is expected that the three dimensional locations of objects are determined in real time by applying proposed stereo camera models to the active stereo vision system, such as a mobile robot.

  • PDF

A Platform-Based SoC Design for Real-Time Stereo Vision

  • Yi, Jong-Su;Park, Jae-Hwa;Kim, Jun-Seong
    • JSTS:Journal of Semiconductor Technology and Science
    • /
    • v.12 no.2
    • /
    • pp.212-218
    • /
    • 2012
  • A stereo vision is able to build three-dimensional maps of its environment. It can provide much more complete information than a 2D image based vision but has to process, at least, that much more data. In the past decade, real-time stereo has become a reality. Some solutions are based on reconfigurable hardware and others rely on specialized hardware. However, they are designed for their own specific applications and are difficult to extend their functionalities. This paper describes a vision system based on a System on a Chip (SoC) platform. A real-time stereo image correlator is implemented using Sum of Absolute Difference (SAD) algorithm and is integrated into the vision system using AMBA bus protocol. Since the system is designed on a pre-verified platform it can be easily extended in its functionality increasing design productivity. Simulation results show that the vision system is suitable for various real-time applications.

Comparative Analysis of Cost Aggregation Algorithms in Stereo Vision (스테레오 비전에서 비용 축적 알고리즘의 비교 분석)

  • Lee, Yong-Hwan;Kim, Youngseop
    • Journal of the Semiconductor & Display Technology
    • /
    • v.15 no.1
    • /
    • pp.47-51
    • /
    • 2016
  • Human visual system infers 3D vision through stereo disparity in the stereoscopic images, and stereo visioning are recently being used in consumer electronics which has resulted in much research in the application field. Basically, stereo vision system consists of four processes, which are cost computation, cost aggregation, disparity calculation, and disparity refinement. In this paper, we present and evaluate the existing various methods, focusing on cost aggregation for stereo vision system to comparatively analyze the performance of their algorithms for a given set of resources. Experiments show that Normalized Cross Correlation and Zero-Mean Normalized Cross Correlation provide higher accuracy, however they are computationally heavy for embedded system in the real time systems. Sum of Absolute Difference and Sum of Squared Difference are more suitable selection for embedded system, but they should be required on improvement to apply to the real world system.

Stereo matching algorithm based on systolic array architecture using edges and pixel data (에지 및 픽셀 데이터를 이용한 어레이구조의 스테레오 매칭 알고리즘)

  • Jung, Woo-Young;Park, Sung-Chan;Jung, Hong
    • Proceedings of the KIEE Conference
    • /
    • /
    • pp.777-780
    • /
    • 2003
  • We have tried to create a vision system like human eye for a long time. We have obtained some distinguished results through many studies. Stereo vision is the most similar to human eye among those. This is the process of recreating 3-D spatial information from a pair of 2-D images. In this paper, we have designed a stereo matching algorithm based on systolic array architecture using edges and pixel data. This is more advanced vision system that improves some problems of previous stereo vision systems. This decreases noise and improves matching rate using edges and pixel data and also improves processing speed using high integration one chip FPGA and compact modules. We can apply this to robot vision and automatic control vehicles and artificial satellites.

  • PDF