文档介绍：A Stereo Vision System for Position Measurement and Recognition
in an Autonomous Robotic System for Carrying Food Trays
Fumi Hasegawa, Masayoshi Hashima, Shinji Kanda, Tsugito Maruyama
Fujitsu Laboratories Ltd.
4-1-1 Kamikodanaka Nakahara-ku, Kawasaki 211-8588, JAPAN
E-mail: fumi @ p
ABSTRACT
This paper describes a practical stereo vision
system for position measurement and recognition in an
autonomous food-tray-carrying robot. Our food tray
carrying robot delivers and collects food trays in medical
care facilities. The vision system must position and
recognize tables and trays for the robot to manipulate the
trays. We have developed edge detectin techniques for the
measurement of target objects tLt vary in terms of
rightness using correlation operations. We fabricated a
compact environmental perce tion unit using a real-time
image correlation processor the Color Trackin Vision)
and had it installed on the food carrying roiot. Tray
delivery and collection experiments in a simulated
environment show that the umt can position the tables and
the food trays accurately enough to mani ulate the trays in
varying degrees of brightness (60 to 7280 lx) using video Figure 1. The food tray carrying robot
images from a pair of stereo cameras installed on the 0
gripper of the manipulator. /
1. INTRODUCXION
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