DESIGN AND IMPLEMENTATION OF A BINOCULAR-VISION SYSTEM FOR LOCATING FOOTHOLDS OF A MULTI-LEGGED WALKING ROBOT.

被引：0
|
作者：
Ozguner, Fusun [1 ]
Tsai, Sheng-Jen [1 ]
机构：
[1] Ohio State Univ, Dep of Electrical, Engineering, Columbus, OH, USA, Ohio State Univ, Dep of Electrical Engineering, Columbus, OH, USA
来源：
IEEE Transactions on Industrial Electronics | 1985年 / IE-32卷 / 01期
关键词：
CAMERAS - LASER BEAMS - Applications;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
A binocular-vision system designed and built for a six-legged mobile robot, the OSU Hexapod, is described. The vision system recognizes footholds specified by an operator by pointing a laser beam to the desired spot for one of the front feet. The front foot then steps onto this foothold and the other feet follow the footprints. This type of locomotion, called the Follow-the-Leader operation, is suitable for rough terrain traversing. The vision system consists of two charge injection device (CID) television cameras with controllers and a special purpose interface circuit. The image of the laser spot is detected by both cameras on the CID sensor plane. The special purpose interface circuit processes the pixel intensity data and calculates the coordinates of the pixel which has an intensity level above an external threshold.
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页码：26 / 31
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