A novel edge detection and pattern recognition algorithm based on beamlet theory for a vision-based wheeled mobile robot

S. Soumya, V. Geethapriya, S. Shankar Bharathi
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引用次数: 2

Abstract

Number of strategies have been deployed to make Wheeled Mobile Robots (WMRs) independent or with limited dependence on human assistance/intervention. In order to enhance their mobility, improvements have been made in their pattern recognition and path planning strategies. Vision-based approach is preferred over stereopsis-based, laser-range finders and GPS-based approaches on account of higher resolution and longer ranges. Vision-Based Wheeled Mobile Robot (VB-WMR) uses an active vision system where the observer is in motion. The goal of this project is to provide a novel algorithm aimed to detect and recognize direction indicators on sign boards placed on the course of the WMR. Here visual processing is devoted to noting the salient components like the edges of patterns on sign boards rather than processing the entire image. The proposed algorithm is based on the beamlet theory, which retains directional information besides the location and scale and performs well under noisy conditions. The developed algorithm in MATLAB is later to be incorporated with the VB-WMR.
基于波束理论的视觉轮式移动机器人边缘检测与模式识别新算法
为了使轮式移动机器人(WMRs)独立或有限地依赖于人类的协助/干预,已经部署了许多策略。为了提高它们的移动性,对它们的模式识别和路径规划策略进行了改进。基于视觉的方法比基于立体视觉、激光测距仪和基于gps的方法更受欢迎,因为它们具有更高的分辨率和更远的距离。基于视觉的轮式移动机器人(VB-WMR)采用主动视觉系统,使观察者处于运动状态。该项目的目标是提供一种新的算法,旨在检测和识别放置在WMR路线上的指示牌上的方向指示器。这里的视觉处理致力于注意显著的组成部分,如标识板上图案的边缘,而不是处理整个图像。该算法基于波束理论,除了保留位置和尺度信息外,还保留了方向信息,在噪声条件下具有良好的性能。在MATLAB中开发的算法随后将与VB-WMR相结合。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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