Authors:
M. Hassan Tanveer
and
Antonio Sgorbissa
Affiliation:
Department of Bio-Robotics and Intelligent Systems (DIBRIS), University of Genova, 16145 Genova and Italy
Keyword(s):
Pepper Humanoid Robot, Inverse Perspective Mapping, Monocular Camera, Moving Robot.
Related
Ontology
Subjects/Areas/Topics:
Autonomous Agents
;
Collective and Social Robots
;
Humanoid Robots
;
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
Abstract:
This article presents a method to know the position of object or moving robot in the plane while the camera is moving dynamically. An Inverse Perspective mapping (IPM) approach has been embedded in a monocular camera on Head of Pepper Humanoid Robot (Softbank Robotics) for real time position determination of other object or robot in plane. While the Pepper head is moving, it is difficult to determine position or distance to objects in front of the robot with any different degree of certainity. By applying IPM, a linear relationship between the IPM frame and world frame becomes the key element to know the position of object while the head is static but when the head orientation changes the IPM is modified to adapt the linear relationship between both frames. So, the proposed method is based on the extraction of accurate bird’s-eye view. The method includes the Image Acquistion, IPM Filtering, Detection Phase, Region of Interest Selection and Pixel remapping.