Catadioptric panoramic stereovision for humanoid robots

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


Title: Catadioptric panoramic stereovision for humanoid robots
  • González de Santos, Pablo
  • Armada Rodríguez, Manuel Ángel
  • Salinas, C.
  • Montes, H.
  • Fernández, G.
Item Type: Article
Título de Revista/Publicación: Robotica
Date: 2011
ISSN: 14698668
Volume: 30
Faculty: Centro de Automática y Robótica (CAR) UPM-CSIC
Department: Otro
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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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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Item ID: 13774
DC Identifier:
OAI Identifier:
DOI: 10.1017/S0263574711001068
Official URL:
Deposited by: Memoria Investigacion
Deposited on: 31 Jan 2013 11:20
Last Modified: 21 Apr 2016 13:08
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