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.
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Gao, C., Zhang, M., Yang, B. (2008). Mobile Manipulators’ Object Recognition Method Based on Multi-sensor Information Fusion. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_117
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DOI: https://doi.org/10.1007/978-3-540-88513-9_117
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-88512-2
Online ISBN: 978-3-540-88513-9
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