NDLI: Robust Color Object Recognition for a Service Robotic Task in the System FRIEND II

Content Provider	IEEE Xplore Digital Library
Author	Vuppala, S.K. Grigorescu, S.M. Ristic, D. Graser, A.
Copyright Year	2007
Description	Author affiliation: Univ. of Bremen, Bremen (Vuppala, S.K.; Grigorescu, S.M.; Ristic, D.; Graser, A.)
Abstract	One of the key requirements of service and rehabilitation robotic systems is the robust perception of the environment. This paper presents the machine vision framework within the rehabilitation robotic system FRIEND II and a method for improving the visual perceptual capability of this system. For the reliable, autonomous performing of the "beverage serving" task robust visual information about the objects to be manipulated in the presence of variable lighting conditions is necessary. A novel aspect of the proposed color object recognition method is its use of feedback control at the image segmentation level, which makes it able to cope with the object color uncertainty caused by different illumination conditions. The idea behind the closed-loop image segmentation is to provide the object recognition step with input data on which it can rely. The proposed object recognition method uses Hu moments which are invariant to rotation, translation and scaling of the object in the image. The benefit of the closed-loop color object recognition in service robotics is demonstrated through the example of the recognition of the green bottle. The presented experimental results on the performance evaluation show that the proposed method has robustness with respect to illumination as well as with respect to the different localization of the object to be manipulated.
Starting Page	704
Ending Page	713
File Size	6135067
Page Count	10
File Format	PDF
ISBN	9781424413195
DOI	10.1109/ICORR.2007.4428503
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-06-13
Publisher Place	Netherlands
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Image segmentation Uncertainty Robot vision systems Lighting Rehabilitation robotics Robot sensing systems Cameras Robustness Object recognition Intelligent sensors
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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