Multi-Sensory Synergies in Humanoid Robotics

Russell, R. A.; Taylor, Geoffrey; Kleeman, Lindsay; Purnamadjaja, Anies Hannawati

doi:10.1142/s0219843604000162

Cited by 4 publications

(1 citation statement)

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“…Robotics often replicate human modalities in order to achieve autonomous behaviors (Russell et al 2004). Above all senses, vision is the most important one to humans.…”

Section: Robotic Applications Of Stereo Visionmentioning

confidence: 99%

Μελέτη Και Υλοποίηση Συστημάτων Στερεοσκοπικής Όρασης Για Ρομποτικές Εφαρμογές

Ναλπαντίδης¹

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Stereo vision has been chosen by natural selection as the most common way to estimate the depth of objects. A pair of two-dimensional images is enough in order to retrieve the third dimension of the scene under observation. The importance of this method is great, apart from the living creatures, for sophisticated machine systems, as well. During the last years robotics has made significant progress and the state of the art is now about achieving autonomous behaviors. In order to accomplish the target of robots being able to move and act autonomously, accurate representations of their environments are required. Both these fields, stereo vision and accomplishing autonomous robotic behaviors, have been in the center of this PhD thesis. The issue of robots using machine stereo vision is not a new one. The number and significance of the researchers that have been involved, as well as the publishing rate of relevant scientific papers indicates an issue that is interesting and still open to solutions and fresh ideas rather than a banal and solved issue.The motivation of this PhD thesis has been the observation that the combination of stereo vision usage and autonomous robots is usually performed in a simplistic manner of simultaneously using two independent technologies. This situation is owed to the fact that the two technologies have evolved independently and by different scientific communities. Stereo vision has mainly evolved within the field of computer vision. On the other hand, autonomous robots are a branch of the robotics and mechatronics field. Methods that have been proposed within the frame of computer vision are not generally satisfactory for use in robotic applications. This fact is due to that an autonomous robot places strict constraints concerning the demanded speed of calculations and the available computational resources. Moreover, their inefficiency is commonly owed to factors related to the environments and the conditions of operation. As a result, the used algorithms, in this case the stereo vision algorithms, should take into consideration these factors during their development. The required compromises have to retain the functionality of the integrated system.The objective of this PhD thesis is the development of stereo vision systems customized for use in autonomous robots. Initially, a literature survey was conducted concerning stereo vision algorithms and corresponding robotic applications. The survey revealed the state of the art in the specific field and pointed out issues that had not yet been answered in a satisfactory manner. Afterwards, novel stereo vision algorithms were developed, which satisfy the demands posed by robotic systems and propose solutions to the open issues indicated by the literature survey. Finally, systems that embody the proposed algorithms and treat open robotic applications' issues have been developed.Within this dissertation there have been used for the first time and combined in a novel way various computational tools and ideas originating from different scientifi...

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“…Robotics often replicate human modalities in order to achieve autonomous behaviors (Russell et al 2004). Above all senses, vision is the most important one to humans.…”

Section: Robotic Applications Of Stereo Visionmentioning

confidence: 99%