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Paper Abstract and Keywords
Presentation 2008-03-11 15:25
Development of a robot which predicts the collision using binocular velocity pair
Terunori Mori, Hiromitsu Yamada, Makoto Mizuno, , , , Fumihiko Mori (Tamagawa Univ.) IE2007-332 PRMU2007-316
Abstract (in Japanese) (See Japanese page) 
(in English) We propose a new method of collision prediction, which is effective in the situation that any object including ego is able to be under the state of motion or stillness and show some results applied to a stereo video camera. A new concept named as “binocular velocity pair” is introduced in order to achieve the purpose that robot arrives at a goal smoothly without coming into collision with a moving or stationary object. The moving distances δL on the left camera image andδR on the right camera image i.e. “binocular velocity pair” are extracted at each corresponding pixel. Then the 3D relative moving direction of the object, the collision location and the collision time are calculated directly. The effectiveness was confirmed by a robot with the online stereo video camera.
Keyword (in Japanese) (See Japanese page) 
(in English) Binocular velocity pair / Collision prediction / Stereo-video image / Ego and object movement / Boxer-Robot / / /  
Reference Info. IEICE Tech. Rep., vol. 107, no. 539, PRMU2007-316, pp. 463-468, March 2008.
Paper # PRMU2007-316 
Date of Issue 2008-03-03 (IE, PRMU) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
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reproduction
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF IE2007-332 PRMU2007-316

Conference Information
Committee PRMU IE  
Conference Date 2008-03-10 - 2008-03-11 
Place (in Japanese) (See Japanese page) 
Place (in English)  
Topics (in Japanese) (See Japanese page) 
Topics (in English) JAIST 
Paper Information
Registration To PRMU 
Conference Code 2008-03-PRMU-IE 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Development of a robot which predicts the collision using binocular velocity pair 
Sub Title (in English)  
Keyword(1) Binocular velocity pair  
Keyword(2) Collision prediction  
Keyword(3) Stereo-video image  
Keyword(4) Ego and object movement  
Keyword(5) Boxer-Robot  
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1st Author's Name Terunori Mori  
1st Author's Affiliation Tamagawa University (Tamagawa Univ.)
2nd Author's Name Hiromitsu Yamada  
2nd Author's Affiliation Tamagawa University (Tamagawa Univ.)
3rd Author's Name Makoto Mizuno  
3rd Author's Affiliation Tamagawa University (Tamagawa Univ.)
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4th Author's Affiliation Tamagawa University (Tamagawa Univ.)
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5th Author's Affiliation Tamagawa University (Tamagawa Univ.)
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6th Author's Affiliation Tamagawa University (Tamagawa Univ.)
7th Author's Name Fumihiko Mori  
7th Author's Affiliation Tamagawa University (Tamagawa Univ.)
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Speaker Author-1 
Date Time 2008-03-11 15:25:00 
Presentation Time 30 minutes 
Registration for PRMU 
Paper # IE2007-332, PRMU2007-316 
Volume (vol) vol.107 
Number (no) no.538(IE), no.539(PRMU) 
Page pp.463-468 
#Pages
Date of Issue 2008-03-03 (IE, PRMU) 


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