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Target positioning method in binocular vision manipulator control based on improved canny operator

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Abstract

In order to improve the accuracy of binocular vision manipulator control, a target positioning method based on improved Canny operator is proposed. First, the image acquired by the left and right cameras is converted into an HSI color model, and the range of the target in the image is located by the image color feature as a region of interest (ROI). Then, the improved Canny edge detection algorithm is used to detect the target in the ROI image, extract the target contour, and determine the center position of the target. These processes are performed on the left and right images, respectively, to obtain the center of the target on the left and right images, and then the three-dimensional coordinates of the target with respect to the camera are determined by triangulation. The experimental results show that the method can accurately detect and locate the target position, and the positioning error is 2.4%. Therefore, it can provide accurate coordinates for the manipulator to perform related tasks.

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Authors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, China

    Yi Han

  2. Department of Computer Science and Information Engineering, Anyang Institute of Technology, Anyang, 455000, China

    Yi Han, Zenan Chu & Kai Zhao

  3. College of Information and Control Engineering, China University of Petroleum (East China), Dongying, 257000, China

    Kai Zhao

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  1. Yi Han
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  2. Zenan Chu
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  3. Kai Zhao
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Correspondence to Yi Han.

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Han, Y., Chu, Z. & Zhao, K. Target positioning method in binocular vision manipulator control based on improved canny operator. Multimed Tools Appl 79, 9599–9614 (2020). https://doi.org/10.1007/s11042-019-08140-9

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  • DOI: https://doi.org/10.1007/s11042-019-08140-9

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