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Catadioptric panoramic stereovision for humanoid robots†

Published online by Cambridge University Press:  03 October 2011

C. Salinas ,
H. Montes ,
G. Fernandez ,
P. Gonzalez de Santos  and
M. Armada
C. Salinas
Affiliation:
Centre for Automation and Robotics – CAR (CSIC-UPM), Robotics Locomotion & Interaction Group, Ctra. de Campo Real. Km 0.200, La Poveda, Arganda del Rey, 28500, Madrid, Spain
H. Montes*
Affiliation:
Centre for Automation and Robotics – CAR (CSIC-UPM), Robotics Locomotion & Interaction Group, Ctra. de Campo Real. Km 0.200, La Poveda, Arganda del Rey, 28500, Madrid, Spain Facultad de Ingenieria Electrica, Universidad Tecnológica de Panamá, Republic of Panama
G. Fernandez
Affiliation:
Departamento de Electronica y Circuitos, Simon Bolivar University, Republic of Venezuela
P. Gonzalez de Santos
Affiliation:
Centre for Automation and Robotics – CAR (CSIC-UPM), Robotics Locomotion & Interaction Group, Ctra. de Campo Real. Km 0.200, La Poveda, Arganda del Rey, 28500, Madrid, Spain
M. Armada
Affiliation:
Centre for Automation and Robotics – CAR (CSIC-UPM), Robotics Locomotion & Interaction Group, Ctra. de Campo Real. Km 0.200, La Poveda, Arganda del Rey, 28500, Madrid, Spain
*
*Corresponding author. E-mail: hector.montes@csic.es
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Summary

This paper proposes a novel design of a reconfigurable humanoid robot head, based on biological likeness of human being so that the humanoid robot could agreeably interact with people in various everyday tasks. The proposed humanoid head has a modular and adaptive structural design and is equipped with three main components: frame, neck motion system and omnidirectional stereovision system modules. The omnidirectional stereovision system module being the last module, a motivating contribution with regard to other computer vision systems implemented in former humanoids, it opens new research possibilities for achieving human-like behaviour. A proposal for a real-time catadioptric stereovision system is presented, including stereo geometry for rectifying the system configuration and depth estimation. The methodology for an initial approach for visual servoing tasks is divided into two phases, first related to the robust detection of moving objects, their depth estimation and position calculation, and second the development of attention-based control strategies. Perception capabilities provided allow the extraction of 3D information from a wide range of visions from uncontrolled dynamic environments, and work results are illustrated through a number of experiments.

Keywords

Catadioptric panoramic camerasOmnidirectional stereovisionVisual servoing controlHumanoid robot head
Type
Articles
Information
Robotica , Volume 30 , Issue 5 , September 2012 , pp. 799 - 811
Copyright
Copyright © Cambridge University Press 2011

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Footnotes

†

This paper was originally submitted under the auspices of the CLAWAR Association. It is an extension of work presented at CLAWAR 2009: The 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Istanbul, Turkey.

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