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1、In order to make the humanoid robot walk freely in complicated circumstance，the reliable capabilities for obtaining plane information from its surroundings are demanded．A system for extracting planes from data taken by stereo vision was presented．After the depth image was obtained．the pixels of each line were scanned and split into straight line segments．The neighbouring relation of line segments was kept in link structure．The groups ofthree 1ine segments were selected as seed regions．A queue was maintained for storing seed regions，and then the plane region was expanded around the seed region．Th e process of region growing continued un til the queue of seed regions was empty．Atier trimming．the edges of the planes became smooth．In the end，cxtracted planes were obtained．In the experiment．two models were used：pipe and stairs．Two planes in pipe mode1 and six planes in stairs model were extracted exactly．The speed and precision of algorithm can satisfy the demands ofhumanoid robot’s navigation． 2、Humanoid robots were considered to have more advantages of moving in environments designed for real humans than traditiona1 wheeled robots．The humanoid robots had more degrees of freedom and could use more actions while walking．so their movement was more flexible．111ey could step on or over obstacles f 1]，climb up or down stair[2]，turn around and even crawl underneath the object [3],etc．In complicated environments． the foun dationa1 problem of walking freely for the humanoid robots was navigation．At present，some famous humanoid robot platforms such as ASIM0 of HONDA f41,WABIAN一2 of Waseda University,and HRP一3 of AIST have been developed for veri ing al1 kinds of methods of controlling and navigation．Although related techn ologies were reported，the humanoid robots were still premature to use in actual 1ife．a(chǎn)nd there were practica1 problems．One of them was the stability while walking[5—6]．The inherent instability of hum anoid robots should be considered firstly,which was the main problem to make it difi cult in practical applications． 3、The navigation system generated a path that a robot moved along from a current position to a target position based on the mapping information around the robot．In the previous navigation techniques，wheeled robots were studied[7～81]：however,there were few researches on the navigation system for the humanoid robots． The movement of a humanoid robot could be split into limited actions and each action a~anged deferent foot placements[91]．The deferent sequences of actions would lead to deferent paths．A hum anoid robot was equipped with two cameras as its eyes．These actions required reliable perceptual capabilities for obtaining its surrounding info rrnation．It was assumed that there were two kinds of oNects in the circumstance where the humanoid robots moved[1O]．One was the object having planar surface that the robot’s fo ot could put on，such as floor,low and flat object，and stairs．The other was the obstacle which the robot could not step over and should try its best to avoid．such as wall and large object．It was important to distinguish the objects with flat surface from obstacles for the safe navigation of a humanoid robot．To solve this problem，the plane must be extracted from surroun ding info rm ation．In this work．a(chǎn) system is presented for extracting planes from data taken by stereo vision 4、OKADA et al[11] proposed mat 3D Hough Transforiilation was used for candidate extraction from depth map information and the plane segment candidates were fired into the depth map in order to detect the partial plane segment．CHEN et al[1 2]presented a newmethod of segmenting planar regions when all uncalibrated camera underwent pure translation．Both methods could segment the plane from original images， but the information of plane in real worid would not be obtained．Therefore，these methods were not fit for the humanoid robots．The method in this work would not only extract the planes from images but also would get the information about the planes such as position，angle and height. |
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baoshanqiu
至尊木蟲 (著名寫手)
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123wy123: 金幣+15, ★★★很有幫助, 非常感謝�。。≈x謝 2015-06-22 11:50:22
123wy123: 金幣+15, ★★★很有幫助, 非常感謝�。。≈x謝 2015-06-22 11:50:22
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3.導(dǎo)航系統(tǒng)生成一條路徑，機(jī)器人則沿著這條路徑根據(jù)周圍的映像信息從當(dāng)前的位置移動(dòng)到目標(biāo)位置。過去的導(dǎo)航技術(shù)研究了輪式機(jī)器人[7～81]，但很少有導(dǎo)航系統(tǒng)涉及人形機(jī)器人。人形機(jī)器人的移動(dòng)可以分割成有限的動(dòng)作。每一個(gè)動(dòng)作將腳放在不同的位置[91]。動(dòng)作的順序不同會(huì)產(chǎn)生不同的路徑。人形機(jī)器人裝配有兩臺(tái)攝像機(jī)作為眼睛。這些動(dòng)作需要有可靠的感知能力以獲得其周圍的信息。設(shè)想人形機(jī)器人移動(dòng)的環(huán)境有兩類物體[10]。一類是機(jī)器人可以涉足的具有平坦表面的物體，比如樓板，矮和平的物體和樓梯。另一類是機(jī)器人不能涉足的障礙物，應(yīng)盡可能避開它。比如墻和大的物體。為了人形機(jī)器人安全導(dǎo)航，重要的是區(qū)分表面平坦的物體和障礙物。要解決這個(gè)問題，必須從周圍信息中提取平面。本研究介紹了一個(gè)從立體視覺資料中提取平面的系統(tǒng)。 4.OKADA 等[11]提出用mat 3D Hough Transformation作為從深度映像信息提取的候選，為探測(cè)部分平面節(jié)段而將候選平面節(jié)段引入深度映像。CHEN等[1 2]報(bào)告了一種當(dāng)所有未經(jīng)校準(zhǔn)的攝像機(jī)純直譯時(shí)分割平面區(qū)域的新方法。兩種方法都能從原始圖像分割平面，但無(wú)法獲得真實(shí)世界的平面信息。因此，這些方法不適用于人形機(jī)器人。本文的方法不僅從圖像提取平面，還能得到有關(guān)平面的諸如位置、角度和高度的信息。 |
3樓2015-06-19 23:04:44
baoshanqiu
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123wy123: 金幣+15, 翻譯EPI+1, ★★★很有幫助, 非常感謝�。�！謝謝 2015-06-22 11:50:12
123wy123: 金幣+15, 翻譯EPI+1, ★★★很有幫助, 非常感謝�。�！謝謝 2015-06-22 11:50:12
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1.為了讓人形機(jī)器人能在復(fù)雜的環(huán)境自由行走，需要可靠的從周圍獲得平面信息的能力。本文報(bào)告了一種通過立體視覺系統(tǒng)得到的資料提取平面的系統(tǒng)。得到深度圖像后，每一條線的像素經(jīng)掃描被分成直線段。線段的相鄰關(guān)系被保留在聯(lián)結(jié)結(jié)構(gòu)中。由三條線段構(gòu)成的組被選作種子區(qū)域。將存儲(chǔ)的種子區(qū)域排隊(duì)后，平面區(qū)域就圍繞種子區(qū)域擴(kuò)張。區(qū)域生長(zhǎng)的過程持續(xù)進(jìn)行到排隊(duì)的種子區(qū)域用完為止。經(jīng)過修飾，平面的邊緣變得光滑。最后得到提取的平面。試驗(yàn)中采用了兩個(gè)模型：管道模型和樓梯模型。確切地有兩個(gè)平面用的是管道模型，六個(gè)平面用的是樓梯模型提取。算法的速度和精度能滿足人形機(jī)器人導(dǎo)航的要求。 2.人形機(jī)器人較之傳統(tǒng)的輪式機(jī)器人在為真人設(shè)計(jì)的環(huán)境中運(yùn)動(dòng)有更多優(yōu)點(diǎn)。人形機(jī)器人在行走時(shí)有更多的自由度，能采取更多的行動(dòng)，因而它們的行動(dòng)更靈活。它們可以踏上或越過障礙物 [1]、上下樓梯[2]、轉(zhuǎn)過身來(lái)甚至從物體下面爬過 [3]等。在復(fù)雜的環(huán)境中，人形機(jī)器人自由行走的基本問題是導(dǎo)航�，F(xiàn)在，一些著名的人形機(jī)器人平臺(tái)如本田 f41的ASIM0、早稻田大學(xué)的WABIAN一2和 AIST（國(guó)家高等工業(yè)科學(xué)技術(shù)研究院）的HRP一3都采用了各種控制和導(dǎo)航的方法。盡管有相關(guān)的技術(shù)報(bào)道，人形機(jī)器人還不能用于現(xiàn)實(shí)生活。仍存在一些實(shí)際問題。其中之一是行走時(shí)的穩(wěn)定性[5—6]。首先應(yīng)考慮人形機(jī)器人固有的不穩(wěn)定性，這是它難以實(shí)際應(yīng)用的主要問題。 3.（待續(xù)） |
2樓2015-06-19 05:05:27
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