@inproceedings{3114b2ba86b947b1a41445eb11941540,
title = "Measurement of ground surface displacement using stereo vision and mechanical sensors on humanoid robots",
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.",
keywords = "Acceleration, Accelerometers, Correlation, Displacement measurement, Humanoid robots, Mechanical sensors, Mechanical variables measurement, Stereo vision, Surface texture, Velocity measurement",
author = "T. Yoshimi and Y. Kawai and Y. Fukase and H. Araki and F. Tomita",
year = "2003",
month = jan,
day = "1",
doi = "10.1109/MFI-2003.2003.1232644",
language = "English",
series = "IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "125--130",
booktitle = "Proceedings of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2003",
note = "IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2003 ; Conference date: 30-07-2003 Through 01-08-2003",
}