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Projection Surfaces Detection and Image Correction for Mobile Robots in HRI
Joint Authors
Fernández-Rodicio, Enrique
González-Pacheco, Víctor
Castillo, José Carlos
Castro-González, Álvaro
Malfaz, María
Salichs, Miguel A.
Source
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-07-12
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Abstract EN
Projectors have become a widespread tool to share information in Human-Robot Interaction with large groups of people in a comfortable way.
Finding a suitable vertical surface becomes a problem when the projector changes positions when a mobile robot is looking for suitable surfaces to project.
Two problems must be addressed to achieve a correct undistorted image: (i) finding the biggest suitable surface free from obstacles and (ii) adapting the output image to correct the distortion due to the angle between the robot and a nonorthogonal surface.
We propose a RANSAC-based method that detects a vertical plane inside a point cloud.
Then, inside this plane, we apply a rectangle-fitting algorithm over the region in which the projector can work.
Finally, the algorithm checks the surface looking for imperfections and occlusions and transforms the original image using a homography matrix to display it over the area detected.
The proposed solution can detect projection areas in real-time using a single Kinect camera, which makes it suitable for applications where a robot interacts with other people in unknown environments.
Our Projection Surfaces Detector and the Image Correction module allow a mobile robot to find the right surface and display images without deformation, improving its ability to interact with people.
American Psychological Association (APA)
Fernández-Rodicio, Enrique& González-Pacheco, Víctor& Castillo, José Carlos& Castro-González, Álvaro& Malfaz, María& Salichs, Miguel A.. 2017. Projection Surfaces Detection and Image Correction for Mobile Robots in HRI. Journal of Sensors،Vol. 2017, no. 2017, pp.1-16.
https://search.emarefa.net/detail/BIM-1187061
Modern Language Association (MLA)
Fernández-Rodicio, Enrique…[et al.]. Projection Surfaces Detection and Image Correction for Mobile Robots in HRI. Journal of Sensors No. 2017 (2017), pp.1-16.
https://search.emarefa.net/detail/BIM-1187061
American Medical Association (AMA)
Fernández-Rodicio, Enrique& González-Pacheco, Víctor& Castillo, José Carlos& Castro-González, Álvaro& Malfaz, María& Salichs, Miguel A.. Projection Surfaces Detection and Image Correction for Mobile Robots in HRI. Journal of Sensors. 2017. Vol. 2017, no. 2017, pp.1-16.
https://search.emarefa.net/detail/BIM-1187061
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1187061