Authors:
Nobuyuki Kita
and
Yasuyo Kita
Affiliation:
National Institute of Advanced Industrial Science and Technology (AIST), Japan
Keyword(s):
Fisheye Stereo, Epipolar Rectification, Stereo Measurement, Humanoid Robot, Multi Contact, Near Support Plane.
Related
Ontology
Subjects/Areas/Topics:
Active and Robot Vision
;
Applications
;
Computer Vision, Visualization and Computer Graphics
;
Motion, Tracking and Stereo Vision
;
Pattern Recognition
;
Robotics
;
Software Engineering
;
Stereo Vision and Structure from Motion
Abstract:
When a humanoid robot walks through or performs a task in a very narrow space, it sometimes touches the
environment with its hand or arm to retain its balance. To do this the robot must identify a flat surface of
appropriate size with which it can make sufficient contact; the surface must also be within reach of robot's
upper body. Using fisheye stereo vision, it is possible to obtain image information for a field of view wider
than that of a hemisphere whose central axis is the optical axes; thus, three dimensional distances to the
possible contact spaces can be evaluated at a glance. To realize it, stereo correspondence is crucial.
However, the short distance between the stereo cameras and the target space causes differences in the
apparent shapes of the targets in the left and right images, which can make stereo correspondence difficult.
Therefore, we propose a novel method which rectifies stereo images so that the targets have the same
apparent shapes in the left and right images
when the targets are close to a reference plane. Actual fisheye
stereo image pairs were rectified, and three dimensional measurements were performed. Better results were
obtained using the proposed rectification method than using other rectification methods.
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