Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Recognition Performance of Vestibular-Ocular Reflex Based Vision Tracking System for Mobile Robot

이동 로봇을 위한 전정안반사 기반 비젼 추적 시스템의 인식 성능 평가

  • 박재홍 (서울대학교 전기컴퓨터공학부 자동화시스템공동연구소) ;
  • 반욱 (서울대학교 전기컴퓨터공학부 자동화시스템공동연구소) ;
  • 최태영 (서울대학교 전기컴퓨터공학부 자동화시스템공동연구소) ;
  • 권현일 (서울대학교 전기컴퓨터공학부 자동화시스템공동연구소) ;
  • 조동일 (서울대학교 전기컴퓨터공학부 자동화시스템공동연구소) ;
  • 김광수 (한밭대학교 전기전자제어공학부)
  • Published : 2009.05.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents a recognition performance of VOR (Vestibular-Ocular Reflex) based vision tracking system for mobile robot. The VOR is a reflex eye movement which, during head movements, produces an eye movement in the direction opposite to the head movement, thus maintaining the image of interested objects placed on the center of retina. We applied this physiological concept to the vision tracking system for high recognition performance in mobile environments. The proposed method was implemented in a vision tracking system consisting of a motion sensor module and an actuation module with vision sensor. We tested the developed system on an x/y stage and a rate table for linear motion and angular motion, respectively. The experimental results show that the recognition rates of the VOR-based method are three times more than non-VOR conventional vision system, which is mainly due to the fact that VOR-based vision tracking system has the line of sight of vision system to be fixed to the object, eventually reducing the blurring effect of images under the dynamic environment. It suggests that the VOR concept proposed in this paper can be applied efficiently to the vision tracking system for mobile robot.

Keywords

References

  1. 조동일, '지능형 로봇 센서,' 주간기술동향, 통권 1183호 pp. 31-41, 2005
  2. 조재일, 최승민, 장지호, 황대환, '지능형 로봇 스테레오 비젼 처리 기술,' 전자통신동향분석, 제22권 제2호, pp. 38-47,2007
  3. C. Harris and M. Stephens, 'A combined comer and edge detector,' Proc. of the 4th Alvey Vision Conforence, pp. 147-151, 1988
  4. S. M. Smith and J. M. Brady, 'SUSAN-A new approach to low level image processing,' Defonce Research Agency, Technical Report no. 7R95SMS1, Famborough, England, 1994
  5. E. Rosten and T. Drummond, 'Machine leaming for high-speed comer detection,' Proc. of the 9th European Conf. Computer Vision, pp. 430-443, 2006
  6. J.P. Lewis, 'Fast normalized cross-correlation,' Vision Inteiface, pp. 120-123, 1995
  7. D. G Lowe, 'Object recognition from local scale-invariant features,' Proc. of the International Conf. Computer Vision, pp. 1150-1157,1999 https://doi.org/10.1109/ICCV.1999.790410
  8. H. Bay, T. Tuytelaars, and L. V. Gool, 'SURF: Speeded up robust features,' Proc. of the 9th European Conf. Computer Vision, pp. 404-417, 2006 https://doi.org/10.1007/11744023_32
  9. J. Canny, 'A computational approach to edge detection,' IEEE Trans. Pattern Anal. Mach. Intell., vol. 8, no. 6, pp. 679-698, 1986 https://doi.org/10.1109/TPAMI.1986.4767851
  10. W. Foerstner, 'A framework for low level feature extraction,' Proc. of the 3rd European Conf. Computer Vision, pp. 383-394, 1994
  11. R. Marfil, A. Bandera, J. A. Rodriguez, and F. Sandoval, 'Realtime template-based tracking of non-rigid objects using bounded irregular pyramids,' Proc. of Intelligent Robots and Systems, 2004, vol. 1, pp. 301-306, 2004
  12. H. Ai, L. Liang, and G Xu 'Face detection based on template matching and support vector machines,' Proc. of International Conf. lmage Processing, vol. 1, pp. 1006-1009,2001
  13. M. Juza, K. Marik, J. Rojicek, and P. Stluka, '3D template-based single camera multiple object tracking,' Proc. of 2006 Computer Vision Winter Workshop, 2006
  14. 김현기, 이진형, 조성원, 정성태, 김재연, '적응적 3 프레임 차분 방법 기반 템플릿을 이용한 객체 추적,' 퍼지 및 지능시스템학회 논문지, 제17권 제3호, pp. 349-354, 2007 https://doi.org/10.5391/JKIIS.2007.17.3.349
  15. J. Lobo and J. Dias, 'Inertial sensed ego-motion for 3D bision,' Journal of Robotic Systems, vol. 21, no. 1, pp. 3-12, 2004 https://doi.org/10.1002/rob.10122
  16. R. Kaushik, M. Marcinkiewicz, J. Xiao, S. Parsons, and T. Raphan, 'Implementation of Bio-inspired vestibulo-ocular reflex in a quadrupedal robot,' Proc. of2007 IEEE International Conf. Robotics and Automation, pp. 4861-4866, 2007 https://doi.org/10.1109/ROBOT.2007.364228
  17. S. Xie, J. Luo, P. Xie, Z. Gong, and H. Zou, 'Biomimetic control of pan-tilt-zoom camera mounted on an autonomous helicopter,' Proc. of International Conf. Mechatronics and Automation 2007, pp. 2003-2008, 2007
  18. M. Ito, 'Cerebellar learning in the vestibulo-ocular reflex,' Trends in Cognitive Sciences, vol. 2, no. 9, pp. 313-321,1998 https://doi.org/10.1016/S1364-6613(98)01222-4
  19. M. E. Goldberg, 'Principles of neural science, chapter the control of gaze,' McGraw-Hill, New York, 4th edition, pp. 782-798, 2000
  20. 정원호, 정재윤, '전정안반사,' 대한평형의학회지, 제2권 제1호, pp. 26-35, 2003
  21. 이홍엽, 방충일, 오현진, '전정안반사 검사: 칼로릭 검사와 회전 자극 검사,' 대한평형의학회지, 제3권 제2호, pp. 289-304,2005
  22. http://en.wikipediaorglwikWestibulo-ocular_reflex
  23. Y-S. Shiao, 'Design and implementation of real-time tracking system based on vision servo control,' Journal of Science and Engineering, vol. 4, no. 1, pp. 45-58, 2001
  24. A. Biswas, P. Guha, A. Mukeljee, and K. S. Venkatesh, 'Detecting and tracking intruders using a pan-tilt surveillance system,' Proc. of International Conf. Visual Irrformation Engineering, 2006
  25. http://www.robotis.com/
  26. http://www.ptgrey.com/
  27. W. Bhan, 'Method of improving vsion tracking in mobile robots using inertial sensor with Vestibule-Ocular Reflex algorithms,' Master Degree Thesis, Seoul National University, 2009
  28. Y. Ke and R. Sukthankar, 'PCA-SIFT: A more distinctive representation for local image descriptors,' Proc. of IEEE Computer Society Conf. on Computer Vision and Pattern Recognition, pp. 506-513, 2004 https://doi.org/10.1109/CVPR.2004.183