| Title: | GS8-3 Coordinated behavior with a Pepper Humanoid robot to estimate the distance of other robot using Inverse Perspective Mapping |
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| Publication: | ICAROB2018 |
| Volume: | 23 |
| Pages: | 178-183 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2018.GS8-3 |
| Author(s): | M. Hassan Tanveer, Antonio Sgorbissa, Carmine T. Recchiuto |
| Publication Date: | February 2, 2018 |
| Keywords: | Pepper Humanoid Robot, Monocular Camera, Inverse Perspective Mapping, OpenCV |
| Abstract: | This article discusses a strategy for real time distance determination applied to a humanoid robot (Pepper, Softbank Robotics) that is requested to collaborate with other robots. However, using the monocular camera embedded on the robot head, it is difficult to determine distance to objects in front of the robot with any degree of certainty. The reason is non linear relationship between the height allocation of camera and its distance to an object in a camera frame. So, the proposed method is based on the extraction of accurate bird's-eye view images, by applying Surface Subtraction and Inverse Perspective Mapping (IPM) to the images captured with the Pepper head camera. The algorithm is implemented in the Python language using the OpenCV libraries. |
| PDF File: | https://alife-robotics.co.jp/members2018/icarob/data/html/data/GS_pdf/GS8/GS8-3.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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