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 and 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) |
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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) |
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Topics (in Japanese) |
(See Japanese page) |
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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) |
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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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Tamagawa University (Tamagawa Univ.) |
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Tamagawa University (Tamagawa Univ.) |
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Tamagawa University (Tamagawa Univ.) |
7th Author's Name |
Fumihiko Mori |
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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 |
6 |
Date of Issue |
2008-03-03 (IE, PRMU) |
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