Study on High Accurate and Real-Time Feature Extraction in Visual Servomechanism for Robotic Arms

With the background of visual servomechanism for robotic arm and with the aim of features required by stereo vision, a method for real-time feature extraction on the base of block of color is presented. The localization of feature includes coarse location and fine location. The coarse location aim is to track the object. The fine location is on the base of coarse location, cuts a small image from the origin image, extracts the contour of the object from the small image and classifies the contour by K-L transform, then fits the edge points by Lease Square Error (LSE) method. The sub-pixel coordinates of the feature points are calculated by the equations of lines, it provides foundation for the measurement of object´s position and posture. The experimental results show its effectiveness.