Measurement of ground surface displacement using stereo vision and mechanical sensors on humanoid robots

Takashi Yoshimi, Y. Kawai, Y. Fukase, H. Araki, F. Tomita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper presents a system for measuring ground surface displacement using stereo vision and mechanical sensors on a humanoid robot. The stereo vision system generates a set of range data for each view by a correlation method as ground surfaces can be regarded as smoothed surfaces with random texture patterns. The mechanical sensors are encoders, gyro sensors and acceleration sensors that measure the angles of joints, angular velocity and acceleration of the robot. With those angles and the link geometry, the transfer matrices between different views are generated and used to register sets of range data.

Original languageEnglish
Title of host publicationIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages125-130
Number of pages6
Volume2003-January
ISBN (Print)078037987X
DOIs
Publication statusPublished - 2003
Externally publishedYes
EventIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2003 - Tokyo, Japan
Duration: 2003 Jul 302003 Aug 1

Other

OtherIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2003
CountryJapan
CityTokyo
Period03/7/3003/8/1

Fingerprint

Stereo vision
Robots
Sensors
Correlation methods
Angular velocity
Textures
Geometry

Keywords

  • Acceleration
  • Accelerometers
  • Correlation
  • Displacement measurement
  • Humanoid robots
  • Mechanical sensors
  • Mechanical variables measurement
  • Stereo vision
  • Surface texture
  • Velocity measurement

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications

Cite this

Yoshimi, T., Kawai, Y., Fukase, Y., Araki, H., & Tomita, F. (2003). Measurement of ground surface displacement using stereo vision and mechanical sensors on humanoid robots. In IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (Vol. 2003-January, pp. 125-130). [1232644] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MFI-2003.2003.1232644

Measurement of ground surface displacement using stereo vision and mechanical sensors on humanoid robots. / Yoshimi, Takashi; Kawai, Y.; Fukase, Y.; Araki, H.; Tomita, F.

IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. Vol. 2003-January Institute of Electrical and Electronics Engineers Inc., 2003. p. 125-130 1232644.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Yoshimi, T, Kawai, Y, Fukase, Y, Araki, H & Tomita, F 2003, Measurement of ground surface displacement using stereo vision and mechanical sensors on humanoid robots. in IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. vol. 2003-January, 1232644, Institute of Electrical and Electronics Engineers Inc., pp. 125-130, IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2003, Tokyo, Japan, 03/7/30. https://doi.org/10.1109/MFI-2003.2003.1232644
Yoshimi T, Kawai Y, Fukase Y, Araki H, Tomita F. Measurement of ground surface displacement using stereo vision and mechanical sensors on humanoid robots. In IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. Vol. 2003-January. Institute of Electrical and Electronics Engineers Inc. 2003. p. 125-130. 1232644 https://doi.org/10.1109/MFI-2003.2003.1232644
Yoshimi, Takashi ; Kawai, Y. ; Fukase, Y. ; Araki, H. ; Tomita, F. / Measurement of ground surface displacement using stereo vision and mechanical sensors on humanoid robots. IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. Vol. 2003-January Institute of Electrical and Electronics Engineers Inc., 2003. pp. 125-130
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