An Inverse Perspective Mapping Approach using Monocular Camera of Pepper Humanoid Robot to Determine the Position of Other Moving Robot in Plane

M. Hassan Tanveer, Antonio Sgorbissa

2018

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.

Paper Citation

in Harvard Style

Tanveer M. and Sgorbissa A. (2018). An Inverse Perspective Mapping Approach using Monocular Camera of Pepper Humanoid Robot to Determine the Position of Other Moving Robot in Plane.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 219-225. DOI: 10.5220/0006930002190225

in Bibtex Style

@conference{icinco18,
author={M. Hassan Tanveer and Antonio Sgorbissa},
title={An Inverse Perspective Mapping Approach using Monocular Camera of Pepper Humanoid Robot to Determine the Position of Other Moving Robot in Plane},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={219-225},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006930002190225},
isbn={978-989-758-321-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - An Inverse Perspective Mapping Approach using Monocular Camera of Pepper Humanoid Robot to Determine the Position of Other Moving Robot in Plane
SN - 978-989-758-321-6
AU - Tanveer M.
AU - Sgorbissa A.
PY - 2018
SP - 219
EP - 225
DO - 10.5220/0006930002190225