제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2002년도 ICCAS
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- Pages.100.2-100
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- 2002
A New Landmark-Based Visual Servoing with Stereo Camera for Door Opening
- Han, Myoung-Soo (Kyunghee Univ.) ;
- Lee, Soon-Geul (Kyunghee Univ.) ;
- Park, Sung-Kee (KIST) ;
- Kim, Munsang (KIST)
- 발행 : 2002.10.01
초록
In this paper we propose a new visual servoing method for door opening with mobile manipulator. We use an eye-to-hand system that stereo camera is mounted on mobile platform, and adopt the position-based method. The previous methods for door opening mostly used eye-in-hand system with mono camera and required predefined knowledge such as radius and position about door grip, which was mainly caused by using mono cam era. This is also a severe constraint for pursuing general-purpose algorithm for door opening. For overcoming such drawback, we use stereo camera and suggest a new method that detect the door grip and estimate its pose from stereo depth information without predefined knowledge. Al...
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