A Method of Recognizing Objects Specified by Color and Shape in Autonomous ROBOT
when the autonomous mobile robot moves, it depends on vision system to catch the targeted objects, so vision system is one of the key technologies for intelligent robot. In order to solve the problem of recognizing objects characterized by specified color and shape in the autonomous robot, a seed fill method based on HUV model is proposed and improved in this paper. First the hue histogram and brightness histogram from a color image are obtained and analyzed. The parameter U and V can represent the main feature of a color but the hue loses sense when the values of RGB are very small. In this paper this shortcoming was improved through cooperating with shape. Then the objects characterized by specified color and shape were recognized effectively. Through experiments, the recognizing of targeted objects with specified color and shape were effectively realized in a variety of background, and the adaptability to changed light has been improved strongly.
autonomous mobile robot HUV color mode robot vision seed filling
Yongxia Li Zhanying Feng Hong Sheng
College of Automation Beijing Union University Beijing,China,100101
国际会议
2010 IEEE信息与自动化国际会议(ICIA 2010)
哈尔滨
英文
1-5
2010-06-20（万方平台首次上网日期，不代表论文的发表时间）