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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
Keywords
  • Robot
  • Object Recognition
  • Vision
Date of Defense 2011-04-04
Availability unrestricted
Abstract
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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