3D perception from binocular vision for a low cost
humanoid robot NAO

Nefti-Meziani, S; Manzoor, U; Davis, ST; Pupala, SK

Abstract

Depth estimation is a classical problem in computer vision and after decades of research many methods have been developed for 3D perception like magnetic tracking, mechanical tracking, acoustic tracking, in-
ertial tracking, optical tracking using markers and beacons. The vision system allows the 3D perception of
the scene and the process involves:(1)camera calibration,(2)image correction,(3)feature extraction and
stereo correspondence,(4)disparity estimation and reconstruction, and finally,(5)surface triangulation
and texture mapping. The work presented in this paper is the implementation of a stereovision system
integrated in humanoid robot. The low cost of the vision system is one of the aims to avoid expensive investment in hardware when used in robotics for 3D perception. In our proposed solution, cameras are
highly utilized as in our opinion they are easy to handle, cheap and very compatible when compared to the hardware used in other techniques. The software for the automated recognition of features and de-
tection of the correspondence points has been programmed using the image processing library OpenCV
(Open Source Computer Vision) and OpenGL (Open Graphic Library) is used to display the3D models ob-tained from the reconstruction. Experimental results of the reconstruction and models of different scenes are shown. The results obtained from the program are evaluated comparing the size of the objects recon-structed with that calculated by the program.

Citation

humanoid robot NAO. Robotics and autonomous systems, 68, 129-139. https://doi.org/10.1016/j.robot.2014.12.016

• Journal Article Type: Article
• Acceptance Date: Dec 5, 2014
• Online Publication Date: Feb 3, 2015
• Publication Date: Jun 1, 2015
• Deposit Date: Nov 10, 2015
• Journal: Robotics and Autonomous Systems
• Print ISSN: 0921-8890
• Publisher: Elsevier
• Volume: 68
• Pages: 129-139
• DOI: https://doi.org/10.1016/j.robot.2014.12.016
• Publisher URL: http://dx.doi.org/10.1016/j.robot.2014.12.016
• Related Public URLs: http://www.journals.elsevier.com/robotics-and-autonomous-systems/