Fast, robust colour vision for the Monash humanoid

摘要

The Monash Humanoid Robot Project has been in progress for one year. A lightweight plastic humanoid robot has been designed and various parts are in production. This paper details the first of the sensor systems to be examined/or the robot A simple, fast, modified HSV colour model is presented to aid in the reliable separation and filtering of colours within images. Early experimental work has focused on tracking ofmoving targets, using a camera mounted on a pan-tilt head. The system uses image subtraction and colour separation to identify and track the dominant colour ofa moving target. damaged components but also offers unique possibilities for sensor embedding. In addition, components with very similar characteristics can be generated quickly and easily. The Monash Humanoid was designed to emulate the sensor capabilities of a human. The head component is a mono-piece construction capable of accepting microphones, odor sensors (in the roof of the mouth) and cameras as well as various voice reproduction systems. The design of the head incorporates sufficient lightweight components such that it is possible to mount a localized' processor for image analysis inside as well. Vision is provided by two lightweight low cost CCD board cameras mounted in the eye sockets.