Method for service robot to recognize and locate target

A service robot and target recognition technology, applied in the field of target recognition and positioning of service robots, to achieve the effect of reducing complex lighting conditions and improving effectiveness and accuracy

Inactive Publication Date: 2013-01-23
SHANGHAI SHANGDA HAIRUN INFORMATION SYST
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AI Technical Summary

Problems solved by technology

Due to the influence of factors such as the complex environment of the service robot and uneven lighting conditions, the method of using a fixed threshold cannot effectively segment the image

Method used

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  • Method for service robot to recognize and locate target
  • Method for service robot to recognize and locate target
  • Method for service robot to recognize and locate target

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Experimental program
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Embodiment

[0022] Such as Figure 1~3 As shown, the present invention obtains the real-time image segmentation threshold by improving the Otsu threshold method and applying the K-L transformation method, thereby reducing the influence of factors such as complex and uneven lighting conditions.

[0023] The Otsu method, also known as the Otsu method or the maximum between-class and intra-variance ratio method, is an automatic threshold determination method. It is derived on the basis of the gray histogram with the principle of the least square method, and has the best segmentation threshold in the statistical sense.

[0024] K-L Transform (Karhunen-Loeve Transform) is a transformation based on statistical properties. method of correlation coefficient. The outstanding advantage of the K-L transformation is that it has good correlation and is the best transformation in the sense of mean square error (MSE, Mean Square Error).

[0025] The service robot system uses the principle of animal v...

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Abstract

The invention relates to a method for a service robot to recognize and locate a target, and the method comprises the following steps of (1) utilizing two identical charge coupled device (CCD) cameras to simultaneously observe on target point so as to acquire a perceived image of the target point under different viewing angles, and calculating a position deviation of every two adjacent image pixels through a geometrical imaging principle to obtain three-dimensional information of the target point; (2) utilizing an image processor to process the perceived image, and utilizing a conversion formula to transform red-green-blue (RGB) color space to hospital information system (HIS) color space; (3) acquiring an image segmenting threshold value through an Otsu threshold value method; and (4) utilizing the image segmenting threshold value to segment the perceived image into correspondent communication areas, utilizing a color characteristic to mark the area which is interested by the image, and completing the recognition and location of the target. Compared with the prior art, the method has advantages that influences of factors such as complexity and nonuniformity of the lighting condition can be reduced, the validity and accuraty for segmenting the image can be greatly improved, and the like.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method for object recognition and positioning of a service robot. Background technique [0002] Service robot target recognition and positioning is one of the basic functions of the robot system. Correct target recognition and positioning is the key to the stability of the service robot system. Therefore, the service robot vision system is an important part of the robot system. [0003] The service robot vision system is to continuously acquire color images, analyze the color images, and find out the area of ​​interest of the system in the image. The biggest feature among many objects is that they have different colors. If the color of the object can be distinguished first, and then the shape of the object can be obtained, it will bring a lot of convenience to the identification of the object in the image and the search of the three-dimensional data. First mark the color of the required ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/46G06T7/00
Inventor 许华虎孔超陈开云孙弘刚施建刚贺祥阳澄海高珏何永义
Owner SHANGHAI SHANGDA HAIRUN INFORMATION SYST
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