Journal of the Korean Institute of Telematics and Electronics (대한전자공학회논문지)

The Institute of Electronics and Information Engineers (대한전자공학회)
권호 표지

3-D Positioning Using Stereo Vision and Guide-Mark Pattern For A Quadruped Walking Robot

스테레오 시각 정보를 이용한 4각보행 로보트의 3차원 위치 및 자세 검출

  • 윤정남 (한국전기통신공사 연구개발단) ;
  • 권호열 (한국과학기술원 전기 및 전자공학과) ;
  • 서일홍 (한양대학교 전기공학과) ;
  • Published : 1990.08.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, the 3-D positioning problem for a quadruped walking robot is investigated. In order to determine the robot's exterior position and orentation in a worls coordinate system, a stereo 3-D positioning algorithm is proposed. The proposed algorithm uses a Guide-Mark Pattern (GMP) specialy designed for fast and reliable extraction of 3-D robot position information from the uncontrolled working environment. Some experimental results along with error analysis and several means of reducing the effects of vision processing error in the proposed algorithm are disscussed.

Keywords