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

T. 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 publicationProceedings of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2003
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages125-130
Number of pages6
ISBN (Electronic)078037987X
DOIs
Publication statusPublished - 2003 Jan 1
Externally publishedYes
EventIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2003 - Tokyo, Japan
Duration: 2003 Jul 302003 Aug 1

Publication series

NameIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
Volume2003-January

Other

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

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

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  • 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 Proceedings of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2003 (pp. 125-130). [1232644] (IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems; Vol. 2003-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MFI-2003.2003.1232644