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Title page for ETD etd-04082011-152612

Type of Document Master's Thesis
Author Luo, Xi
URN etd-04082011-152612
Title An Implementation of Object Recognition Using Binocular Vision
Degree Master of Science
Department Electrical Engineering
Advisory Committee
Advisor Name Title
Kazuhiko Kawamura Committee Chair
Mitchell Wilkes Committee Member
  • Robot
  • Object Recognition
  • Vision
Date of Defense 2011-04-04
Availability unrestricted
The human active visual perception is closely related to a “fixation-move-fixation” rhythm. In recent past, the scientists adopted this concept with the expectation that camera-equipped robot can interact with the environment better by altering the viewpoint of cameras rather than passively observing the environment.

In this thesis, a pair of pan-tilt cameras mounted on the ISAC humanoid robot was used to implement an active vision process along a one-dimensional search space. The software system including an object recognition sub-system was developed and was integrated with an arm control sub-system. The object recognition sub-system was designed based on color and shape detection and was implemented by using OpenCV libraries and MATLAB. Since two cameras were moving during the experiments, there was a linear mapping underlying the different combinations of angles of two sets of pan-tilt units for object localization. Several experiments were performed to evaluate system performance.

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