Title :
Vision-based fast objects recognition and distances calculation of robots
Author :
Chen, Qijun ; Xie, Huali ; Woo, Pengyung
Author_Institution :
Dept. of Control Sci. & Eng., Tongji Univ., Shanghai, China
Abstract :
To meet the necessity of fast vision process in four-legged league of RoboCup, this paper presents a vision-based fast method of objects recognition and distances calculation. The image is segmented online according to the threshold obtained offline by applying OPENCV offered by Intel Corporation. By the use of a tree-based union find with path compression, a merging method is implemented to find the regions and to find the objects. According to the camera model, the distances between objects and robots are calculated by the inverse transformation from two dimensions to three dimensions. The experimental result shows the validity.
Keywords :
image segmentation; legged locomotion; multi-robot systems; object recognition; robot vision; tree searching; Intel Corporation; OPENCV; RoboCup; camera model; distance calculation; four-legged league robot; image segmentation; inverse transformation; merging method; objects recognition; path compression; tree-based union; vision-based fast method; Character recognition; Colored noise; Hardware; Image edge detection; Image recognition; Image segmentation; Object recognition; Pixel; Robot vision systems; Robotics and automation;
Conference_Titel :
Industrial Electronics Society, 2005. IECON 2005. 31st Annual Conference of IEEE
Print_ISBN :
0-7803-9252-3
DOI :
10.1109/IECON.2005.1568931
