By Topic

Real-time 3D environment perception: An application for small 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

4 Author(s)
Denis Klimentjew ; Dept. of Informatics, University of Hamburg, Vogt-Kölln-Straße 30, 22527, Germany ; Andre Stroh ; Sascha Jockel ; Jianwei Zhang

This paper presents a modular software architecture based on a stereo camera system that makes real-time 3D perception, interaction and navigation for small humanoid robots possible. The hardware-independent architecture can be used for several purposes, like 3D visualisation, object recognition, self-localization, collision avoidance, etc. First of all, the intrinsic calibration parameters of the stereo camera system are identified. Then the lens distortions of the input images are revised, and both images are rectified according to the extrinsic parameters to facilitate the subsequent correspondence analysis. The imaged scenery, as well as a region of interest, can be reconstructed either by the block-matching, the Schirai- or the Birchfield algorithm, followed by triangulation back into 3D space. Finally, the above-mentioned aims can be tackled based on the resulting 3D model computed by our modular software architecture.

Published in:

Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on

Date of Conference:

22-25 Feb. 2009