By Topic

Measurement of ground surface displacement using stereo vision and mechanical sensors on humanoid robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
T. Yoshimi ; Intelligent Syst. Inst., Agency of Ind. Sci. & Technol., Ibaraki, Japan ; Y. Kawai ; Y. Fukase ; H. Araki
more authors

This paper presents a system for measuring ground surface displacement using stereo vision and mechanical sensors on a humanoid robot. The stereo vision system generates a set of range data for each view by a correlation method as ground surfaces can be regarded as smoothed surfaces with random texture patterns. The mechanical sensors are encoders, gyro sensors and acceleration sensors that measure the angles of joints, angular velocity and acceleration of the robot. With those angles and the link geometry, the transfer matrices between different views are generated and used to register sets of range data.

Published in:

Multisensor Fusion and Integration for Intelligent Systems, MFI2003. Proceedings of IEEE International Conference on

Date of Conference:

30 July-1 Aug. 2003