Title :
Autonomous Recognition of Multiple Cable Topology with Image
Author :
Fujiki, Rei ; Tanaka, Hideyuki ; Kawahara, Yoshinobu ; Yairi, Takehisa ; Machida, Kazuo
Author_Institution :
Dept. of Aerosp. Eng., Tokyo Univ.
Abstract :
From industrial situation to ordinary life, there are a lot of cables in today´s society. There, however, are not many studies that describe the topological relationship between multiple cables for autonomous operation of robotics device. In this paper, an autonomous computing way to create 3D topological model of multiple cables using image is discussed. Cable model is described by probability density function and optimized its parameters via EM algorithm, that indicates the configuration and topological relationships. In order to manipulate the object cables then, depth from sensor to points are added to the unique points in topological graph structure derived from EM model. The quantitative results of basic experiment that was aimed to prove the recognition possibility via the algorithm are reported
Keywords :
cables (electric); cableway systems; expectation-maximisation algorithm; graph theory; image recognition; 3D topological model; EM algorithm; autonomous image recognition; cable model; graph structure; multiple cable topology; probability density function; robotics device; Aerospace industry; Density functional theory; Image recognition; Image sensors; Industrial relations; Medical robotics; Power cables; Robotics and automation; Service robots; Topology; EM Algorithm; graph structure; image sensor; multiple cables; topological model;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.315754
