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영상 기반 센서 융합을 이용한 이족로봇에서의 환경 인식 시스템의 개발
송희준(Heejun Song),이선구(Seonggu Lee),강태구(Taegu Kang),김동원(Dongwon Kim),서삼준(Sam-Jun Seo),박귀태(Gwi-Tae Park) 대한전기학회 2006 정보 및 제어 심포지엄 논문집 Vol.2006 No.1
This paper discusses the method of vision based sensor fusion system for biped robot walking. Most researches on biped walking robot have mostly focused on walking algorithm itself. However, developing vision systems for biped walking robot is an important and urgent issue since biped walking robots are ultimately developed not only for researches but to be utilized in real life. In the research, systems for environment recognition and tele-operation have been developed for task assignment and execution of biped robot as well as for human robot interaction (HRI) system. For carrying out certain tasks, an object tracking system using modified optical flow algorithm and obstacle recognition system using enhanced template matching and hierarchical support vector machine algorithm by wireless vision camera are implemented with sensor fusion system using other sensors installed in a biped walking robot. Also systems for robot manipulating and communication with user have been developed for robot.