Catadioptric panoramic stereovision for humanoid robots

González de Santos, Pablo; Armada Rodríguez, Manuel Ángel; Salinas, C.; Montes, H. y Fernández, G. (2011). Catadioptric panoramic stereovision for humanoid robots. "Robotica", v. 30 (n. 5); pp. 799-811. ISSN 14698668.


Título: Catadioptric panoramic stereovision for humanoid robots
  • González de Santos, Pablo
  • Armada Rodríguez, Manuel Ángel
  • Salinas, C.
  • Montes, H.
  • Fernández, G.
Tipo de Documento: Artículo
Título de Revista/Publicación: Robotica
Fecha: 2011
Volumen: 30
Escuela: Centro de Automática y Robótica (CAR) UPM-CSIC
Departamento: Otro
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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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.

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ID de Registro: 13774
Identificador DC:
Identificador OAI:
Identificador DOI: 10.1017/S0263574711001068
URL Oficial:
Depositado por: Memoria Investigacion
Depositado el: 31 Ene 2013 11:20
Ultima Modificación: 21 Abr 2016 13:08
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