Application of Improved VIBE Algorithm in Robot Grabbing System Based on Visual Servo

Abstract

Object detection is the essential part for arm robot grabbing system. Traditional VIBE (Visual Background Extractor) algorithm is used to capture moving objects in a visual servo-based robot grabbing system, but there are three major problems in the image: ghost, shadow and hole. Aiming at the three defects of VIBE algorithm, the corresponding improvement schemes are put forward: the frame difference method combined with VIBE algorithm is designed to solve the 'ghost' problem, the improved model based on normalized RGB space is used to eliminate the 'shadow'. Finally, image enclosure algorithm is used to deal with "holes". Through the comparative analysis of the experimental results, the effectiveness of the improved algorithm is verified, and the above three problems are well solved.