[1]LEI Lichong,LIU Huaping,SUN Fuchun,et al.Visual object recognition for smart manipulation[J].CAAI Transactions on Intelligent Systems,2015,10(1):37-42.[doi:10.3969/j.issn.1673-4785.201311050]
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Visual object recognition for smart manipulation

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 10 Number of periods: 2015 1 Page number: 37-42 Column: 学术论文—机器感知与模式识别 Public date: 2015-03-25
Title:
Visual object recognition for smart manipulation
Author(s):
LEI Lichong1; 2;  LIU Huaping2;  SUN Fuchun2;  GAO Meng3;  ZHANG Junxing3
1. China Railway 17th Bureau Co., Ltd.Survey and Design Institute, Taiyuan 030032, China;
2. State Key Lab of Intelligent Technology and Systems, Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China;
3. School of Electrical and Electronics Engineering, Shijiazhuang Tiedao University, Shijiazhuang 050043, China
Keywords:
Kinect; visual; background subtraction; the frame differenece; T-S fuzzy logical; object recognition; fine control; smart manipulation
CLC:
TP391.4
DOI:
10.3969/j.issn.1673-4785.201311050
Abstract:
In order to achieve fine operation of dexterous hand, a new method is proposed. The method consists of detecting a targeted object by Kinect, conducting background subtraction for the obtained depth on the basis of frame difference method to acquire the motion point of the targeted object and judging the targeted object by the T-S fuzzy logic along with the features of the obtained targeted object. This paper uses BH8-280 for an object grasping experiment to verify the accuracy and rapidity of the method. In this experiment the pose, size and shape of the objects can be determined. The property categories of objects are judged by the T-S fuzzy logic system. It is seen that the dexterous hand can grasp the object accurately. The research of this method builds a foundation for fine operation of a dexterous hand.
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