2P1-D06 視覚情報を用いた傾斜平面の角度推定(ロボットビジョン)

概要

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In recent years, intelligent robots that work automatically have become required. Conventional robots have been used in specific environments, but these new robots are going to be used in universal environments that are not constant. For that purpose, it is necessary for a robot to be able to recognize the outside environments. In this study, we attach two CCD cameras to a robot to provide information on the outside environment. It is necessary to detect the position and the angle of an unknown inclined plane for perpendicular contact. In general, the three dimensional position of the target is obtained by stereo analysis, but there is no technique to detect the unknown inclined plane. So we propose the new angle detection with vision. As a result, the practicability of this method is verified.
2007-05-11