Selection of mage Features for Robot Vision System

摘要：

In robot visual servo the system performance has a close relationship with image features. This paper mainly discusses two kinds of image features. One is geometrical moments, and the other is eigen-space transform features, which can be regarded as a kind of overall image features. Using overall features may avoid designing artificial marks on the objects, and make image feature extraction algorithms easy be used for different objects. The overall image features can also avoid the problems of limited robot manipulating scope and inconvenience in computation. The eigen-space transform algorithm is detailedly discussed. The experiment results show that the moment features are sensitive to disturbance from the environment, and the features from eigen-space transform are more anti-noise than the moment features. We successfully use this kind of image features in robot visual servo and in robot motion simulation.

关键词： robot vision image feature eigen space transform

作者: Qingjie Zhao Hongbin Deng Wenyao Zhang Aixia Mu

作者单位: School of Computer Science & Technology Beijing Institute of Technology Beijing 100081, China Dept. of Electrical Engineering Shandong Polytechnic College Zibo 256414, China

会议类型: 国际会议

会议名称: 2007 IEEE International Conference on Automation and Lofistics

会议地点: 山东济南

会议语种:英文

在线出版日期: 2007-08-18（万方平台首次上网日期，不代表论文的发表时间）