Vision Based Sensor Fusion System of Biped Walking Robot for Environment Recognition

영상 기반 센서 융합을 이용한 이쪽로봇에서의 환경 인식 시스템의 개발

  • 송희준 (고려대학교 전기공학과) ;
  • 이선구 (고려대학교 전기공학과) ;
  • 강태구 (고려대학교 전기공학과) ;
  • 김동원 (고려대학교 전기공학과) ;
  • 서삼준 (안양대학 전기전자공학과) ;
  • 박귀태 (고려대학교 전기공학과)
  • Published : 2006.04.29

Abstract

This paper discusses the method of vision based sensor fusion system for biped robot walking. Most researches on biped walking robot have mostly focused on walking algorithm itself. However, developing vision systems for biped walking robot is an important and urgent issue since biped walking robots are ultimately developed not only for researches but to be utilized in real life. In the research, systems for environment recognition and tole-operation have been developed for task assignment and execution of biped robot as well as for human robot interaction (HRI) system. For carrying out certain tasks, an object tracking system using modified optical flow algorithm and obstacle recognition system using enhanced template matching and hierarchical support vector machine algorithm by wireless vision camera are implemented with sensor fusion system using other sensors installed in a biped walking robot. Also systems for robot manipulating and communication with user have been developed for robot.

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