Design and Development of a Small Stereovision Sensor Module for Small Self-Contained Autonomous Robots

Kei Okada; Takeshi Morishita; Marika Hayashi; Masayuki Inaba; Hirochika Inoue

doi:10.20965/jrm.2005.p0248

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JRM Vol.17 No.3 pp. 248-254

doi: 10.20965/jrm.2005.p0248

(2005)

Paper:

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Design and Development of a Small Stereovision Sensor Module for Small Self-Contained Autonomous Robots

Kei Okada^, Takeshi Morishita^,**, Marika Hayashi^,
Masayuki Inaba^, and Hirochika Inoue^*

^*Graduate School of Information Science and Technology, University of Tokyo

^**Kanagawa Prefectural Sagamidai Technical High School

Received:

October 19, 2004

Accepted:

March 7, 2005

Published:

June 20, 2005

Keywords:

vision system, vision sensor, stereovision, small robot

Abstract

We designed a small stereovision (SSV) sensor module for easily adding visual functions to a small robot and enabling their use. The SSV sensor module concept includes 1) a vision sensor module containing a camera and a visual processor and 2) connecting to a robot system through general-purpose interface. This design enables the use of visual functions as ordinary sensors such, as touch or ultra-sonic sensors, by simply connecting a general-purpose interface port such as an IO port or serial connector. We developed a prototype module with small CMOS image sensors for a mobile phone and a 16 bit microprocessor. The 30×40mm prototype is small enough to attach even to palm-top robots. Our module demonstrates image processing including binarization, color extraction and labeling, and template matching. We developed self-contained robots, including a 2DOF head robot, a humanoid robot, and a palm-top robot, and realized vision-based autonomous behavior.

Cite this article as:

K. Okada, T. Morishita, M. Hayashi, M. Inaba, and H. Inoue, “Design and Development of a Small Stereovision Sensor Module for Small Self-Contained Autonomous Robots,” J. Robot. Mechatron., Vol.17 No.3, pp. 248-254, 2005.

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References

[1] M. Inaba, S. Kagami, F. Kanehiro, Y. Hoshino, and H. Inoue, “A Platform for Robotics Research Based on the Remote-Brained Robot Approach,” The International Journal of Robotics Research, Vol.19, No.10, pp. 933-954, 2000.
[2] M. Fujita, and K. Kageyama, “An Open Architecture for Robot Entertainment,” In Proceedings of the First International Conference on Autonomous Agents, pp. 435-442, 1997.
[3] M. Inaba, S. Kagami, F. Kanehiro, K. Takeda, T. Oka, and H. Inoue, “Vision-based adaptive and interactive behaviors in mechanical animals using the remotebrained approach,” Robotics and Autonomous Systems, Vol.17, pp. 35-52, 1996.
[4] K. Okada, H. Nakai, D. Sato, D. Sakai, Y. Kino, Y. Kuniyoshi, M. Inaba, and H. Inoue, “Development of A Humanoid System with Portable PC Brain for Research and Education,” In Proceedings of the 19th Annual Conference of the Robotics Society of Japan, pp. 1261-1262, 2001 (in Japanese).
[5] K. Konolige, “Small Vision Systems: Hardware and Implementation,” In Y. Shirai and S. Hirose (eds), “Robotics Research: The Eighth International Symposium,” pp. 203-212, Springer, 1997.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] M. Inaba, S. Kagami, F. Kanehiro, Y. Hoshino, and H. Inoue, “A Platform for Robotics Research Based on the Remote-Brained Robot Approach,” The International Journal of Robotics Research, Vol.19, No.10, pp. 933-954, 2000.

[2] [2] M. Fujita, and K. Kageyama, “An Open Architecture for Robot Entertainment,” In Proceedings of the First International Conference on Autonomous Agents, pp. 435-442, 1997.

[3] [3] M. Inaba, S. Kagami, F. Kanehiro, K. Takeda, T. Oka, and H. Inoue, “Vision-based adaptive and interactive behaviors in mechanical animals using the remotebrained approach,” Robotics and Autonomous Systems, Vol.17, pp. 35-52, 1996.

[4] [4] K. Okada, H. Nakai, D. Sato, D. Sakai, Y. Kino, Y. Kuniyoshi, M. Inaba, and H. Inoue, “Development of A Humanoid System with Portable PC Brain for Research and Education,” In Proceedings of the 19th Annual Conference of the Robotics Society of Japan, pp. 1261-1262, 2001 (in Japanese).

[5] [5] K. Konolige, “Small Vision Systems: Hardware and Implementation,” In Y. Shirai and S. Hirose (eds), “Robotics Research: The Eighth International Symposium,” pp. 203-212, Springer, 1997.

Design and Development of a Small Stereovision Sensor Module for Small Self-Contained Autonomous Robots

Kei Okada*, Takeshi Morishita*,**, Marika Hayashi*, Masayuki Inaba*, and Hirochika Inoue*

Kei Okada^, Takeshi Morishita^,**, Marika Hayashi^,
Masayuki Inaba^, and Hirochika Inoue^*