1P1-C15 Registering and searching objects by using the active stereo vision system with both of wide vision and high visual acuity

Abstract

Recogllitlon of objects by robot have two problems ． First problem is that the method of registering objects is not easy in general ． Second problem is that it is diMclu しfor norma ． l ca 皿 eras to recognize distant objects ． So we used the robot head ， developed in our lab ｛ ｝ratory ， wit ， h the active visi ｛｝ n system with both of wide vlsion and high visual auity in order to resolve these problem ， lt has two active zQom calIleras and two stereo wide angle cameras ． We can register objects by showillg tlle I ・ obot objects and clipping images twice with the informatioll of distaIlce aIld SIFT features， And the robot can recognize va ． riable objects ill tlle rQoln by IIIovillg zoom cameras ， changing zooln factor and using SIFT features ， Key Words ' Wide vision and high visual acl ユity ， help recall ， serch objects ， SIFT feature ， Active stereo head