대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1998년도 하계학술대회 논문집 G
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- Pages.2370-2372
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- 1998
눈동자 운동이 가능한 컬러 스테레오 머리-눈 시스템의 개발
Development of a Color Stereo Head-Eye System with Vergence
- 황보명 (한국과학기술연구원 지능제어연구센터) ;
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유범재
(한국과학기술연구원 지능제어연구센터) ;
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오상록
(한국과학기술연구원 지능제어연구센터) ;
- 이종원 (한국과학기술연구원 휴먼로봇연구센터)
- HwangBo, Myung (KIST Intelligent System Control Research Center) ;
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You, Bum-Jae
(KIST Intelligent System Control Research Center) ;
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Oh, Sang-Rok
(KIST Intelligent System Control Research Center) ;
- Lee, Jong-Won (KIST Advanced Robotics Research Center)
- 발행 : 1998.07.20
초록
Recently we have developed an active stereo head-eye system with vergence, name it KIST HECter(Head-Eye System with Colored Stero Vision), based on the analysis of human's neck and eye motion at visual behavior. Our HECter is a five degree-of-freedom system composed of pan and tilt motion in neck part and independent vergence motion of binocular cameras and commonly shared elevation axis in eye part. And stereo vision Provides two color image, which are processed by powerful each TMS32080 vision board. The shape and size are designed to be almost same as human face. The ability to vergence has significant importance and gives many beneficial merits. On its mechanical implementation we adapt a non-parallelogram 4-bar linkage mechanism since it provides high accuracy in transfering motion and enables compact and flexible design.
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