2A1-D17 水周り物体の静的環境モデルを利用した動的な水の変化を視覚認識するヒューマノイド

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This paper describes a method to detect water flow based on a static environment model of its surroundings, in order to realize a humanoid robot which co-exists in a human living environment. We have developed three methods of water recognition. 1) Detecting a start of water flow from a kettle by using background difference, 2) Detecting a stop of water from by using frame difference., 3) Detecting a amount of the water in a cup by calculating the difference at the inner surface of a. cup. We also developed a method to detect water from water outlet using stereo vision. Finally we realized the water pouring behavior of a life-sized humanoid robot using a kettle while recognizing the start and stop of the water flow.
一般社団法人日本機械学会の論文