Abstract
In this paper, a symbol identifier based recognition and relative positioning approach suitable for multi-robot systems is proposed. The symbol identifier is composed of central area and peripheral area, and there exists radial spokes in central area. The recognition approach utilizes some features including luminance feature of center point, luminance difference between center point and its ambient region, the number and distribution of spokes as well as the shape of peripheral area to filter the points in the image. Finally, the resulting pixel points set to characterize the center points of symbol identifiers is generated. On this basis, the positions of these center points relative to the camera are then calculated. The proposed approach is verified by the experiments.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Ren, W., Sorensen, N.: Distributed coordination architecture for multi-robot formation control. Robotics and Autonomous Systems 56(4), 324–333 (2008)
Bicchi, A., Fagiolini, A., Pallottino, L.: Towards a Society of Robots. IEEE Robotics & Automation Magazine 17(4), 26–36 (2010)
Marr, D.: Vision: A Computational Investigation into the Human Representation and Processing of Visual Information. W.H. Freeman, San Francisco (1982)
Kuno, Y., Okamato, Y., Okada, S.: Robot Vision Using a Feature Search Strategy Generated from a 3-D Object Model. IEEE Transactions on Pattern Analysis and Machine Intelligence 13(10), 1085–1097 (1991)
Vaidyanathan, A.G., Whitcomb, J.A.: Adaptive image analysis for object recognition Part I- Entropic Object Location. In: Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, pp. 1888–1891 (1995)
Xia, G.H., Xing, Z.Y.: A New Algorithm for Target Recognition and Tracking for Robot Vision System. In: 2007 IEEE International Conference on Control and Automation, pp. 1004–1008 (2007)
Tang, H.B., Wang, L., Sun, Z.Q.: Accurate and Stable Vision in Robot Soccer. In: 8th International Conference on Control, Automation, Robotics and Vision, pp. 2314–2319 (2004)
Zhang, W.W., Wang, J., Cao, Z.Q., Yuan, Y., Zhou, C.: A Local Interaction Based Multi-robot Hunting Approach with Sensing and Modest Communication. In: Xie, M., Xiong, Y., Xiong, C., Liu, H., Hu, Z. (eds.) ICIRA 2009. LNCS (LNAI), vol. 5928, pp. 90–99. Springer, Heidelberg (2009)
Hyams, J., Powell, M., Murphy, R.: Position estimation and cooperative navigation of micro-rovers using color segmentation. Autonomous Robots 9, 7–16 (2000)
Ren, H., Zhong, Q.B.: A New Image Segmentation Method Based on HSI Color Space for Biped Soccer Robot. In: Proceedings of IEEE International Symposium on IT in Medicine and Education, pp. 1058–1061 (2008)
Zhang, C.H., Zhang, D., Zhao, S.X.: Bar code technology and application. Tsinghua University Press (2003) (in Chinese)
Xue, H.T., Tian, G.H., Li, X.L., Lu, F.: Application of the QR Code for various object identification and manipulation. Journal of Shandong University (Engineering Science) 37(6), 25–30 (2007) (in Chinese)
Yang, F.F., Meng, Z.D.: Label Recognition of Service Robot in Family Environment. Computer & Digital Engineering 36(11), 116–119 (2008) (in Chinese)
Liu, X.L., Qian, H.B., Cao, Z.Q., Tan, M.: Visual recognition method based on symbol features. Journal of Huazhong University of Science and Technology (Natural Science Edition) 39(sup. II), 120–123 (2011) (in Chinese)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Qian, H., Yuan, W., Liu, X., Cao, Z., Zhou, C., Tan, M. (2012). A Symbol Identifier Based Recognition and Relative Positioning Approach Suitable for Multi-robot Systems. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7508. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33503-7_51
Download citation
DOI: https://doi.org/10.1007/978-3-642-33503-7_51
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33502-0
Online ISBN: 978-3-642-33503-7
eBook Packages: Computer ScienceComputer Science (R0)