自動車の運転制御をめざした2層液晶装社を利用したステレオロボットビジョンの開発

摘要

A novel stereo robot vision system using a two-layer liquid crystal display ( LCD ) is proposed. The images of an object captured by right and left CCD cameras mounted on the robot are displayed on the two-layer LCD. The light intensity transmitted through the LCD depends on the degree of matching, I.e., parallax, between the images of two cameras. Therefore, the distance from the cameras to the object can be deduced from the intensity of the transmitted light without using a sophisticated computer algorithm. An example of the application of this stereo robot vision system for the automated chasing by an autonomous robot is presented. According to the distance between the camera-mounting autonomous robot and an object ahead, the autonomous robot advances, stops, or retreats to maintain a proper interval between the object. In this paper, the ability for real time processing of the autonomous vehicle is shown by the experiments.%人間は視覚によって外界にある物体の色，形，運動，奥行きなどの情報を感知する．そして得られた情報を基に，その物体が何物であるかを経験から判別し，また，その物体の空間的な情報を知覚している．この人間の視覚機能を真似て，物体までの距離の検出という作業をコンピュータと2台のカメラを用いて実現する研究に，ステレオロボットビジョンがある．