Application of metaheuristic optimization algorithms for image registration in mobile robot visual control

Q3 Engineering

Serbian Journal of Electrical Engineering Pub Date : 2021-01-01 DOI:10.2298/sjee2102155d

Lazar Djokic, Aleksandar Jokic, Milica Petrović, Nikola Slavković, Z. Miljković

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引用次数: 0

Abstract

Visual Servoing (VS) of a mobile robot requires advanced digital image processing, and one of the techniques especially fitting for this complex task is Image Registration (IR). In general, IR involves the geometrical alignment of images, and it can be viewed as an optimization problem. Therefore, we propose Metaheuristic Optimization Algorithms (MOA) for IR in VS of a mobile robot. The comprehensive comparison study of three state-of-the-art MOA, namely the Slime Mould Algorithm (SMA), Harris Hawks Optimizer (HHO), and Whale Optimization Algorithm (WOA) is presented. The previously mentioned MOA used for IR are evaluated on 12 pairs of stereo images obtained by a mobile robot stereo vision system in a laboratory model of a manufacturing environment. The MATLsoftware package is used for the implementation of the considered optimization algorithms. Acquired experimental results show that SMA outperforms HHO and WOA, while all three algorithms perform satisfactory alignment of images captured from various mobile robot poses.

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元启发式优化算法在移动机器人视觉控制中的应用

移动机器人的视觉伺服(VS)需要先进的数字图像处理技术，而图像配准(IR)是一种特别适合于这一复杂任务的技术。一般来说，红外涉及图像的几何对齐，它可以被视为一个优化问题。因此，我们提出了一种用于移动机器人VS中的IR的元启发式优化算法(MOA)。对黏菌算法(SMA)、Harris Hawks Optimizer (HHO)和Whale Optimization Algorithm (WOA)这三种最先进的MOA进行了综合比较研究。在制造环境的实验室模型中，对移动机器人立体视觉系统获得的12对立体图像进行了评估。matlab软件包用于实现所考虑的优化算法。实验结果表明，SMA算法优于HHO算法和WOA算法，三种算法均能对不同姿态的移动机器人图像进行令人满意的对齐。

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来源期刊

Serbian Journal of Electrical Engineering Energy-Energy Engineering and Power Technology

CiteScore

1.30

自引率

0.00%

发文量

审稿时长

25 weeks

期刊介绍： The main aims of the Journal are to publish peer review papers giving results of the fundamental and applied research in the field of electrical engineering. The Journal covers a wide scope of problems in the following scientific fields: Applied and Theoretical Electromagnetics, Instrumentation and Measurement, Power Engineering, Power Systems, Electrical Machines, Electrical Drives, Electronics, Telecommunications, Computer Engineering, Automatic Control and Systems, Mechatronics, Electrical Materials, Information Technologies, Engineering Mathematics, etc.