Paper Info
Title
Mobile Manipulators' Object Recognition Method Based on Multi-sensor Information Fusion
Abstract
Mobile manipulators have attracted a lot of interest recently. This paper presents an object detection method for mobile manipulator system based on multi-sensor information fusion. Firstly,the fusion method of visual and ultrasonic information has been applied to localization of the end-effector. And based on the ultrasonic array of the mobile platform, a fuzzy control method was adopted to achieve its obstacle- avoidance motion. Vision-guided object recognition and localization method is emphasizes on image-preprocessing, including that: gray treatment, the choice of threshold, binarization, erosion, dilation and group color up method. These transformations can produce clear image which could be easily recognized by the control computer. A design methodology for moment invariant recognition---based object detection is proposed. Experimental results demonstrate the validity of the approach.
Year
DOI
Venue
2008
10.1007/978-3-540-88513-9_117
ICIRA (1)
Keywords
Field
DocType
fuzzy control method,mobile platform,object recognition method,mobile manipulator,vision-guided object recognition,localization method,fusion method,mobile manipulator system,multi-sensor information fusion,object detection,mobile manipulators,control computer,object detection method,fuzzy control,obstacle avoidance,design methodology,object recognition
Object detection,Obstacle,Computer vision,Ultrasonic sensor,Design methods,Invariant (mathematics),Artificial intelligence,Engineering,Fuzzy control system,Mobile manipulator,Cognitive neuroscience of visual object recognition
Conference
Volume
ISSN
Citations 
5314
0302-9743
0
PageRank 
References 
Authors
0.34
5
3
Name
Order
Citations
PageRank
Chun-Yan Gao1167.24
Minglu Zhang22715.35
Bojun Yang322.86