Title: Binocular stereo vision system for a humanoid robot

Authors: Qinjun Du; Xiang Shi; Bin Dai; Enqing Lu

Addresses: School of Electrical and Electronic Engineering, Shandong University of Technology, 12 Zhangzhou Road, Zibo City, Shandong Province, 255012, China ' School of Electrical and Electronic Engineering, Shandong University of Technology, 12 Zhangzhou Road, Zibo City, Shandong Province, 255012, China ' School of Electrical and Electronic Engineering, Shandong University of Technology, 12 Zhangzhou Road, Zibo City, Shandong Province, 255012, China ' School of Electrical and Electronic Engineering, Shandong University of Technology, 12 Zhangzhou Road, Zibo City, Shandong Province, 255012, China

Abstract: Vision system is very important for a humanoid robot to work in the human working and living environments. This paper discusses a humanoid robot binocular stereo visual system, with two computers the humanoid robot will perfect realise target object location and manipulation in real-time, the two computers are linked with each other through memolink communication module. One computer is responsible for processing the object images information, the other is used to control humanoid robot to walk and manipulate. An active humanoid robot vision model is built; the 3D location principle and the calibration method of this model are analysed. This active robot vision system with two degrees of freedom enlarges its visual field and the binocular stereo vision system is the most simple camera configuration for 3D position information. Experiments show the effectiveness and robustness of the stereo visual system for a humanoid robot.

Keywords: humanoid robots; stereo vision; model calibration; binocular vision; robot vision; object manipulation; object location; robot control; robot walking; 3D location; robot positioning; robot localisation.

DOI: 10.1504/IJCAT.2013.053422

International Journal of Computer Applications in Technology, 2013 Vol.46 No.4, pp.316 - 322

Published online: 29 May 2013 *

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