Target Object Identification and Localization in Mobile Manipulations

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	Target Object Identification and Localization in Mobile Manipulations
	Jiang Y(姜勇); Qin Zhang ; Yunyi Jia
	2011
会议日期	December 7-11, 2011
会议地点	Phuket, Thailand
关键词	Cameras Feature Extraction Image Color Analysis Manipulators Mobile Communication Object Recognition Three Dimensional Displays
页码	144-149
英文摘要	How to make mobile manipulator autonomously identify and locate target object in unknown environment, this is a very challenging question. In this paper, a multi-sensor fusion method based on camera and laser range finder (LRF) for mobile manipulations is proposed. Although the camera can acquire rich perceptual information, the image processing is very complex and easily influenced from the change in ambient light. Moreover, it can not directly provide the depth information of the environment. Since the LRF has the ability to directly measure 3D coordinates and the stability against the ambient light influence, meanwhile, the camera has the ability to acquire color information, the combination of the two sensors by making use of their advantages is utilized to obtain more accurate measurements as well as to simplify information processing. To overlay the camera image with the measurement points of the LRF pitching scan and to reconstruct the 3D image which includes the depth-of-field information, the model and the calibration of the system are built. Based on the combination of the color features extracted from the color image and the shape, size features extracted from the 3D depth-of-field image, the target object identification and localization are implemented autonomously. In order to extract the shape and size features, a triangular facet normal vector clustering (TFNVC) algorithm is introduced. The effectiveness of the proposed method and algorithm are validated by some experimental testing and analysis carried out on the mobile manipulator platform.
源文献作者	IEEE Robotics and Automation Society
产权排序	1
会议录	2011 IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议录出版者	IEEE Computer Society
会议录出版地	Piscataway, NJ
语种	英语
ISBN号	978-1-4577-2136-6
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/7731]
专题	沈阳自动化研究所_空间自动化技术研究室
作者单位	1.Mechatronic Engineering, Beijing University of Posts and Telecommunications, Beijing, 100876, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, 110016, China 3.Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824, United States
推荐引用方式 GB/T 7714	Jiang Y,Qin Zhang,Yunyi Jia. Target Object Identification and Localization in Mobile Manipulations[C]. 见:. Phuket, Thailand. December 7-11, 2011.