The Journal of the Institute of Internet, Broadcasting and Communication (한국인터넷방송통신학회논문지)

The Institute of Internet, Broadcasting and Communication (한국인터넷방송통신학회)
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Development of a 3D Object Recognition Component for OPRoS

OPRoS를 위한 3차원 물체 인식 컴포넌트 개발

  • 한창호 (선문대학교 정보통신공학과) ;
  • 오춘석 (선문대학교 정보통신공학과)
  • Received : 2011.03.08
  • Accepted : 2011.06.10
  • Published : 2011.06.30
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Abstract

Recently, many researchers in the world are concentrated to develop the robot platform which is to reduce the developing cost by reusing existing softwares. In this paper, we describe that the 3 dimension recognition object components for OPRoS (Open Platform for Robotic Services) which is developed in Korea. We present that the structure of the component, disparity map and depth map algorithm for recognizing 3 dimension space. We used stereo matching and block matching method to produce the disparity map. We test the component on the computer with OPRoS platform and show the results of accuracy and performance time.

본 논문에서 최근 다양한 로봇에 기존에 개발된 소프트웨어를 쉽게 적용하기 위한 플랫폼 개발에 기여하고 있는데, 국내에서 개발한 지능형로봇 개발을 위한 공통기반 플랫폼(OPRoS)에서 동작하는 3차원 물체 인식 컴포넌트 개발한 내용을 기술하였다. 컴포넌트 구성 내용과 3차원 공간 인식을 위해 사용한 기존 시각차 맵과 깊이 맵에 대한 알고리즘에 대한 언급을 했으며, 또한 시각차 맵을 만들기 위해 스테레오 매칭 방법과 블럭 매칭 방법을 표현했다. 기존 알고리즘으로 만들어진 컴포넌트는 OPRoS가 탑재된 컴퓨터에서 동작을 시켜 실험을 하였다.

Keywords

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