대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1996년도 하계학술대회 논문집 B
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- Pages.1122-1124
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- 1996
아이인핸드로봇의 영상 추적을 위한 실시간 거리측정
Real-time Depth Estimation for Visual Serving with Eye-in-Hand Robot
- Park, Jong-Cheol (Samsung Display Device) ;
- Bien, Zeung-Nam (KAIST) ;
- Ro, Cheol-Rae (Samsung Display Device)
- 발행 : 1996.07.22
초록
Depth between the robot and the target is an essential information in the robot control. However, in case of eye-in-hand robot with one camera, it is not easy to get an accurate depth information in real-time. In this paper, the techniques of depth-from-motion and depth-from-focus are combined to accomplish the real-time requirement. Integration of the two approaches are accomplished by appropriate use of confidence factors which are evaluated by fuzzy rules. Also a fuzzy logic based calibration technique is proposed.
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