대한전자공학회논문지 (Journal of the Korean Institute of Telematics and Electronics)
- 제27권8호
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- Pages.1188-1200
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- 1990
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- 1016-135X(pISSN)
스테레오 시각 정보를 이용한 4각보행 로보트의 3차원 위치 및 자세 검출
3-D Positioning Using Stereo Vision and Guide-Mark Pattern For A Quadruped Walking Robot
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- Zeungnam Bien
- 발행 : 1990.08.01
초록
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.
키워드