HUMANOID ROBOT BASED ON STEREO VISION TO AVOID AN OBSTACLE
Keywords:
Humanoid robot, Stereo vision, Baseline, Disparity, RecognitionAbstract
In this research to improve humanoid robot was used to a single camera vision for the RoboCup soccer league competitions in Thailand. This research proposed the technique for humanoid robot avoids an obstacle based on a better vision system, called a stereo vision. To get more efficiency, two Logitech 905 model CCD cameras and microprocessor ATOM PICO 820 board can be used on humanoid robot to visualize the object and obstacle. The humanoid robot can recognize the object called tennis ball. The issue problem is mostly the robots bumping between competitions humanoid robot league due to the humanoid robots were used a camera vision system. Using two cameras for stereo vision can increase more angle of view than using a camera. Indeed, one of stereo vision frameworks is used to disparity between left and right cameras, and the relative baseline is fixed 5 centimeters. To measure the distance of the humanoid robot can measure well at 20 centimeters between the obstacle and the humanoid robot. As a result, humanoid robot to avoid obstacle was selected at a distance of 20 centimeters optimized.
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