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Original scientific paper

Vision-Guided Walking in a Structured Indoor Scenario

Robert Cupec
Günther Schmidt
Oliver Lorch

Fulltext: english, pdf (539 KB) pages 49-57 downloads: 896* cite
APA 6th Edition
Cupec, R., Schmidt, G. & Lorch, O. (2005). Vision-Guided Walking in a Structured Indoor Scenario. Automatika, 46. (1-2), 49-57. Retrieved from https://hrcak.srce.hr/6841
MLA 8th Edition
Cupec, Robert, et al. "Vision-Guided Walking in a Structured Indoor Scenario." Automatika, vol. 46., no. 1-2, 2005, pp. 49-57. https://hrcak.srce.hr/6841. Accessed 30 Nov. 2021.
Chicago 17th Edition
Cupec, Robert, Günther Schmidt and Oliver Lorch. "Vision-Guided Walking in a Structured Indoor Scenario." Automatika 46., no. 1-2 (2005): 49-57. https://hrcak.srce.hr/6841
Harvard
Cupec, R., Schmidt, G., and Lorch, O. (2005). 'Vision-Guided Walking in a Structured Indoor Scenario', Automatika, 46.(1-2), pp. 49-57. Available at: https://hrcak.srce.hr/6841 (Accessed 30 November 2021)
Vancouver
Cupec R, Schmidt G, Lorch O. Vision-Guided Walking in a Structured Indoor Scenario. Automatika [Internet]. 2005 [cited 2021 November 30];46.(1-2):49-57. Available from: https://hrcak.srce.hr/6841
IEEE
R. Cupec, G. Schmidt and O. Lorch, "Vision-Guided Walking in a Structured Indoor Scenario", Automatika, vol.46., no. 1-2, pp. 49-57, 2005. [Online]. Available: https://hrcak.srce.hr/6841. [Accessed: 30 November 2021]

Abstracts
Locomotion of a biped robot in a scenario with obstacles requires a high degree of coordination between perception and walking. This article presents key ideas of a vision-based strategy for guidance of walking robots in structured scenarios. Computer vision techniques are employed for reactive adaptation of step sequences allowing a robot to step over or upon or walk around obstacles. Highly accurate feedback information is achieved by a combination of line-based scene analysis and real-time feature tracking. The proposed vision-based approach was evaluated by experiments with a real humanoid robot.

Keywords
biped walking robots; humanoid robots; computer vision; structured environment; real-time feature tracking

Hrčak ID: 6841

URI
https://hrcak.srce.hr/6841

[croatian]

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