A Robot Vision System in ABU Robocon Contest: Visual Servoing Navigation and Object Tracking

Abstract:

This article took the 2011 ABU Robocon Contest as background, and introduced the design and implementation of a vision system for visual servoing navigation and object tracking in this contest. For visual servoing navigation part, it had a series of simple image processing and then added to a previous control law; tests showed only 3cm distance and 1°angle error occur when robot ran one line of 6m. For object tracking part, article introduced a combined algorithm for the detecting of a black and white semi-circle object, which moved quickly and uncertainty in a colorful background and shining environment; tests showed the proposed algorithm work better than other exist algorithms in complex environment.

• Periodical: Advanced Materials Research (Volumes 605-607)
• Pages: 1630-1635
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.605-607.1630
• Online since: December 2012
• Authors: Xi Hua Li, Ping Zhang, Si Na Lin
• Keywords: Navigation, Object Tracking, Robot Vision, Visual Servoing

References

[1] http: /www. aburobocon2011. com.

[2] Agin. G. J, Real time control of a robot with a mobile camera,. Technical Note 179, SRI International, Feb. (1979).

[3] Wwiss. L, Dynamic Sensor-based Control of robots with Visual Feedback,. Robotics and Automation, IEEE Journal, Oct. (1987).

[4] Corke, A new partitioned approach to image-based visual servo control,. Robotics and Automation, IEEE Transactions, Aug. (2001).

DOI: 10.1109/70.954764

[5] François Chaumette, Potential problems of stability and convergence in image-based and position-based visual servoing,. Lecture Notes in Control and Information Sciences, 1998, Volume 237/1998, 66-78, DOI: 10. 1007/BFb0109663.

DOI: 10.1007/bfb0109663

[6] Greene. S. Vision-based mobile robot learning and navigation,. Robot and Human Interactive Communication, Aug. (2005).

DOI: 10.1109/roman.2005.1513755

[7] Lindeberg, Tony (2001), Edge detection,. Hazewinkel, Michiel, Encyclopedia of Mathematics, Springer, ISBN: 978-1556080104.

[8] J. Canny (1986), A computational approach to edge detection, IEEE Trans, Pattern Analysis and Machine Intelligence, vol 8, pages 679-714.

DOI: 10.1109/tpami.1986.4767851

[9] Zhong Qiubo, Object Recognition Algorithm Research Based on Variable Illumination,. Automation and Logistics, 2009, ICAL, Aug. (2009).

DOI: 10.1109/ical.2009.5262717

[10] Li he, Object Detection by Parts Using Appearance, Structural and Shape Features,. ISBN: 9781424481132, DOI: 10. 1109/ICMA. 2011. 5985611.

[11] M. K. Hu, Visual pattern recognition by moment invariants,. IRE Trans, Info, Theory, vol. IT-8, PP. 179-187, (1962).