Mobile robot vision system for object color tracking

Crneković, Mladen and Zorc, Davor and Kunica, Zoran (2013) Mobile robot vision system for object color tracking. = Mobile robot vision system for object color tracking. In: 14th International Scientific Conference on Production Engineering, 19-22.06.2013., Biograd, Hrvatska.

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Abstract

By using a vision system mobile robot autonomy increases significantly. Instead of a robot motion programming, robot task programming is possible. In the paper a vision system of the eMIR mobile robot is presented that gives the robot ability to recognize objects by their color. For the object recognition HSV color system is used where a picture divides into cells with dimensions of 9x9 pixels. After determining the cell similarity with the reference sample, identified cells are grouped in clusters that are a basis for the object recognition. For each object, size and center of gravity are determined. The whole process of recognition is performed in a real time, with own developed algorithms for image processing. Recognition process is not carried out in the whole image, but only around the area where the object is detected in the previous recognition step. This allows fast search and recognition of not only static objects but also moving objects. The motion of the robot towards recognized object takes place in three stages: 1. robot's rotation, to allow bringing of the object being searched for in the robot's visual field, 2. aligning of the robot, by its rotation, until the found object comes into the center of the image that is in front of the robot, and 3. movement of the robot (simultaneous translation and rotation) to a distance of 10 cm.

Item Type: Conference or Workshop Item (Lecture)
Keywords (Croatian): mobile robot, vision, docking, color tracking
Subjects: TECHNICAL SCIENCE > Mechanical Engineering
Divisions: 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
900 Department of Robotics and Production System Automation > 920 Chair of Manufacturing and Assembly System Planning
Indexed in Web of Science: No
Indexed in Current Contents: No
Date Deposited: 19 Sep 2016 15:30
Last Modified: 14 Sep 2018 07:54
URI: http://repozitorij.fsb.hr/id/eprint/6401

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