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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Yang Tangwen Gao Lining Ruan Qiuqi Han Jianda |
| Copyright Year | 2014 |
| Description | Author affiliation: Inst. of Inf. Sci., Beijing Jiaotong Univ., Beijing, China (Yang Tangwen; Gao Lining; Ruan Qiuqi) || State Key Lab. of Robot., Shenyang Inst. of Autom., Shenyang, China (Han Jianda) |
| Abstract | Two PZT cameras are used in this paper to realize visual servo control for coordinated manipulation of a mobile two-arm robot. The focus of this study is mainly on the problems of detection, recognition and localization of a target object in an indoor environment of scattered background and varying illumination. First, a modified algorithm is proposed in the HSV color space to detect objects based on updated segmentation thresholds and bounding rectangles, thereby improving its adaptability to illumination variation. Second, the target is identified from the detected objects using the target contour features and the Hu's moment invariants. Then, the spatial coordinates of the target object are obtained with the cameras' perspective matrices, and the target position is determined. Finally, to verify effectiveness of the image processing algorithms presented and the visual servo control, experiments are done on a robot platform to mimic the manipulation of pouring water with two arms, and the results show that the robot system can complete the task successfully. |
| Starting Page | 8421 |
| Ending Page | 8426 |
| File Size | 499204 |
| Page Count | 6 |
| File Format | |
| ISBN | 9789881563873 |
| ISSN | 19341768 |
| DOI | 10.1109/ChiCC.2014.6896413 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2014-07-28 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | TCCT, CAA |
| Subject Keyword | Visualization Coordinated Manipulation Robot kinematics Cameras Mobile communication Invariant Moment Visual Servo Control HSV Electronic mail Servosystems Mobile Two-Arm Robot |
| Content Type | Text |
| Resource Type | Article |
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