基于机器视觉的协作式机器人Baxter目标识别算法
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摘要
为了提升协作式机器人Baxter在工作应用中识别抓取目标物体的准确性和鲁棒性,对所涉及到的一些图像处理算法进行研究,提出了基于HSV颜色模型和形态学处理的工作区域轮廓检测算法,改进了传统识别圆的Hough变换算法。实验结果表明,所提出和改进的算法能够提升协作式机器人Baxter对目标识别的准确性和鲁棒性。
To improve the accuracy and robustness of the cooperative robot Baxter when identifying and grasping target objects, the relevant image processing algorithms are studied. An algorithm for detecting the contour of the workspace is proposed based on HSV color model and morphological treatment, and the traditional Hough transform algorithm for detecting circles is improved. The experimental results show that, the proposed and improved algorithms can improve the accuracy and robustness of the cooperative robot Baxter when it is identifying and grasping target objects.
To improve the accuracy and robustness of the cooperative robot Baxter when identifying and grasping target objects, the relevant image processing algorithms are studied. An algorithm for detecting the contour of the workspace is proposed based on HSV color model and morphological treatment, and the traditional Hough transform algorithm for detecting circles is improved. The experimental results show that, the proposed and improved algorithms can improve the accuracy and robustness of the cooperative robot Baxter when it is identifying and grasping target objects.
引文
[1]刘想德.基于视觉引导的Baxter机器人运动控制研究[J].重庆邮电大学学报:自然科学版,2018,30(4):552-557.
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[4]靳艳红.基于改进Canny算法的图像边缘检测的研究[D].重庆:重庆师范大学,2011.
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[6]LOHITHASWA M H.Canny edge detection algorithm on FPGA[J].IOSR Journal of Electronics and Communication Engineering,2015,10(1):15-19.
[7]韩君君.彩色图像边缘检测算法研究[D].曲阜:曲阜师范大学,2009.
[8]陈小艳,王强,李柏林.改进的Hough变换检测圆方法[J].计算机系统应用,2015,24(8):197-201.
[9]朱桂英,张瑞林.基于Hough变换的圆检测方法[J].计算机工程与设计,2008,29(6):1462-1464.
[10]MOCHIZUKI Y,TORII A,IMIYA A.N-point Hough transform for line detection[J].Journal of Visual Communication and Image Representation,2009,20(4):242-253.
[11]SATZODA R K,SUCHITRA S,SRIKANTHAN T.Parallelizing the Hough transform computation[J].IEEE Signal Processing Letters,2008,15(1):297-300.
[12]孙滔.基于颜色空间的图像特征提取的研究[D].吉林:吉林大学,2006.
[13]KAU L J,LEE T L.An HSV model-based approach for the sharpening of color images[C]//Proceedings of the IEEE International Conference on Systems,Man,and Cybernetics,2013:150-155.
[14]蒋东升.基于数学形态学的边缘检测算法研究[D].成都:电子科技大学,2012.
[15]沈阳.基于形态学的图像边缘检测技术研究[D].成都:电子科技大学,2008.
[2]GONZALEZ R C,WOODS R E.Digital image processing[M].3rd ed.London:Pearson,2007.
[3]周超.边缘检测Canny算子的研究与改进[D].重庆:重庆师范大学,2012.
[4]靳艳红.基于改进Canny算法的图像边缘检测的研究[D].重庆:重庆师范大学,2011.
[5]MCILHAGGA W.The Canny edge detector revisited[J].International Journal of Computer Vision,2011,91(3):251-261.
[6]LOHITHASWA M H.Canny edge detection algorithm on FPGA[J].IOSR Journal of Electronics and Communication Engineering,2015,10(1):15-19.
[7]韩君君.彩色图像边缘检测算法研究[D].曲阜:曲阜师范大学,2009.
[8]陈小艳,王强,李柏林.改进的Hough变换检测圆方法[J].计算机系统应用,2015,24(8):197-201.
[9]朱桂英,张瑞林.基于Hough变换的圆检测方法[J].计算机工程与设计,2008,29(6):1462-1464.
[10]MOCHIZUKI Y,TORII A,IMIYA A.N-point Hough transform for line detection[J].Journal of Visual Communication and Image Representation,2009,20(4):242-253.
[11]SATZODA R K,SUCHITRA S,SRIKANTHAN T.Parallelizing the Hough transform computation[J].IEEE Signal Processing Letters,2008,15(1):297-300.
[12]孙滔.基于颜色空间的图像特征提取的研究[D].吉林:吉林大学,2006.
[13]KAU L J,LEE T L.An HSV model-based approach for the sharpening of color images[C]//Proceedings of the IEEE International Conference on Systems,Man,and Cybernetics,2013:150-155.
[14]蒋东升.基于数学形态学的边缘检测算法研究[D].成都:电子科技大学,2012.
[15]沈阳.基于形态学的图像边缘检测技术研究[D].成都:电子科技大学,2008.