3-D Vision for Robot Perception

Toward Robot Perception through Omnidirectional Vision

Vision is an extraordinarily powerful sense. The ability to perceive the environment allows for movement to be regulated by the world. Humans do this effortlessly but still lack the understanding of how perception works. In the case of visual perception, many researchers, from psychologists to engineers, are working on this complex problem. Our approach is to build artificial visual systems to ...

Robot Motion Vision Part II: Implementation

The idea of Fixation introduced a direct method for general recovery of shape and motion from images without using either feature correspondence or optical flow [1,2]. There are some parameters which have important effects on the performance of fixation method. However, the theory of fixation does not say anything about the autonomous and correct choice of those parameters. This paper presents ...

Using Active Vision to Simplify Perception for Robot Driving

As mobile robots attempt more difficult tasks in more complex environments, they are faced with combinatorially harder perceptual problems. In fact, computation costs for perception can easily dominate the costs for planning in a mobile robot. Existing perception systems on mobile robots are potentially many orders of magnitude too slow for real-world domains. In this paper we show active visio...

Perception and Control for a Humanoid Robot using Vision

This paper provides a summary of our research towards developing a humanoid robot capable of performing interactive manipulation tasks in a domestic/office environment. Visual sensing makes important contributions to all areas of task specification, planning and actuation by enabling the robot to interact through gesture recognition, recognize and locate objects and obstacles, and employ visual...

Introductory techniques for 3-D computer vision