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This paper presents a vision-based obstacle avoidance design using a monocular camera onboard a mobile robot. An image processing procedure is developed to estimate distances between the robot and obstacles based-on inverse perspective transformation (IPT) in image plane. A robust image processing solution is proposed to detect and segment navigatable ground plane area within the camera view. The...
This paper presents a novel design of visual servo control of a mobile manipulator for autonomous grasping of a target object. In this design, scale invariant feature transform (SIFT) algorithm is adopted to search and recognize the object to grasp. Random sample consensus (RANSAC) algorithm is used to remove outliers and find the refined homography matrix between database and current image. Robust...
This paper presents an evaluation of the SIFT (scale invariant feature transform), Colour SIFT, and SURF (speeded up robust feature) descriptors on very low resolution images. The performance of the three descriptors are compared against each other on the precision and recall measures using ground truth correct matching data. Our experimental results show that both SIFT and colour SIFT are more robust...
A service robot has to identify objects for given tasks by using the camera mounted on its body. In general, previously proposed object-recognition systems do not show enough performance to apply them to service robots. Since, the object-recognition system for service robots must be robust for environmental conditions and fast enough to support its tasks. Changes of Illumination, viewpoint and scale...
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