視覚支援歩行ロボットの研究 -第4報:高速画像安定化機構を用いた遠隔操縦性能の向上- Study on Vision Aided Walking Robots-Teleoperation experiment of walking robots using high-speed image stabilization system-© 正 倉爪 亮(東工大) 葉石 敦夫(東工大) 正 広瀬 茂男 ( 東工大 )

Content Provider	Semantic Scholar
Author	Kurazume, Ryo Haishi, Atsuo Hirose, Shigeo
Copyright Year	2002
Abstract	For the effective remote operation of a walking machine, the utilization of image information from a camera mounted on the walking machine is indispensable. However, unlike wheeled vehicles, the camera mounted on the walking machine oscillates because of the impact by the walking, and the obtained unstable images cause inferior operation performance. In this paper, we introduce an image stabilization system for teleoperation of walking robots using a high speed CCD camera and gyrosensors. The image stabilization is executed in two phases, that is, the estimation of the amount of oscillation by the combination of the template matching method and gyrosensors, and change of the display region. Pentium MMX instruction is used for template matching calculation, and the estimated amount of oscillation is given in every 12 (msec.). Furthermore, developed image stabilization mechanism can be used an external attitude sensor from the visual information, and the damping control of the robot body while walking is also possible. Experimental results showed stabilized images that eliminates the oscillation component are taken even when the robot moves dynamically or in long distance, and verified that the performance of attitude control using the developed image stabilization system is almost same as the case using an attitude sensor.
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Alternate Webpage(s)	http://fortune.ait.kyushu-u.ac.jp/~kurazume/papers/ROBOMEC00-3.pdf
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article