研究業績(論文)

基本情報

氏名 森 文彦
氏名(カナ) モリ フミヒコ
氏名(英語) MORI Fumihiko

論文名

A Method of Collision Prediction by Binocular Velocity Pair under the Condition of Ego and Object Motion

著者名

M. Mizuno, H. Yamada, N. Shibata, K. Uno, K. Taguchi, F. Mori, T. Mori

雑誌名

Proc. IEVC2007

出版者

IEEE

 

 

開始ページ

1P-3

 

 

終了ページ

 

発行年月日

2007/11

査読の有無

招待の有無

記述言語

英語

掲載区分

海外

掲載種別

研究論文(国際会議プロシーディングス)

執筆形態

共著(筆頭者以外)

ISSN

 

DOI

10.1109/SICE.2006.314991

NAID(CiNiiのID)

 

PMID

 

Permalink

URL

概要

We propose a new method of collision prediction, which is effective in the situation that any object including ego is able to be under the state of motion or stillness. A new concept named as "binocular velocity pair" is introduced in order to achieve a purpose that robot arrives at a goal without coming into collision with a moving or stationary object. The moving distance delta<sub>L</sub> on the left camera image and delta<sub>R</sub> on the right camera image i.e. "binocular velocity pair" are extracted at each corresponding pixels. Then, the 3D relative direction of the object, the collision location on the robot and the collision time are calculated directly. Simple neural network can execute the calculation. The effectiveness of the proposed method is checked by using a stereo video camera of View Plus Ltd and a moving platform produced by Tokyo Seiki Ltd

備考