[1]雷丽充,刘华平,孙富春,等.面向灵巧操作的视觉目标识别[J].智能系统学报,2015,10(01):37-42.[doi:10.3969/j.issn.1673-4785.201311050]
 LEI Lichong,LIU Huaping,SUN Fuchun,et al.Visual object recognition for smart manipulation[J].CAAI Transactions on Intelligent Systems,2015,10(01):37-42.[doi:10.3969/j.issn.1673-4785.201311050]
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第10卷
期数:
2015年01期
页码:
37-42
栏目:
出版日期:
2015-03-25

文章信息/Info

Title:
Visual object recognition for smart manipulation
作者:
雷丽充12 刘华平2 孙富春2 高蒙3 张军惺3
1. 中铁十七局集团有限公司 勘察设计院, 山西 太原 030032;
2. 清华大学计算机科学与技术系 智能技术与系统国家重点实验室, 北京 100084;
3. 石家庄铁道大学 电气与电子工程学院, 河北 石家庄 050043
Author(s):
LEI Lichong12 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
关键词:
Kinect视觉背景相减法帧差法T-S模糊逻辑目标识别精细控制灵巧操作
Keywords:
Kinectvisualbackground subtractionthe frame differeneceT-S fuzzy logicalobject recognitionfine controlsmart manipulation
分类号:
TP391.4
DOI:
10.3969/j.issn.1673-4785.201311050
文献标志码:
A
摘要:
为了能够实现灵巧手对目标物体进行精准操作,研究了一种利用Kinect检测出目标物体,在帧差法的基础上对获取的深度进行背景相减,获取出目标物体的运动点,在此基础上利用获取的目标物体的特征采用T-S模糊逻辑判断出目标物体的方法,以BH8-280对目标物体进行抓取实验为例,在实验中,Kinect在帧差法的基础上检测出目标物体的位姿,大小,形状,以此为基础建立起T-S模糊逻辑系统,判断出目标物体的属性和类别,通过实验结果进一步说明了利用本文研究的方法显著地提高了判断物体的准确率和效率,为灵巧手的精细控制抓取奠定了基础。
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.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2013-11-20;改回日期:。
基金项目:国家自然科学基金重大国际合作研究资助项目(61210013);国家自然科学基金资助项目(60621062,90716021).
作者简介:雷丽充,女,1988年生,硕士研究生,主要研究方向为智能控制、模式识别、图像处理;刘华平,男,1976年生,副教授,主要研究方向为智能控制及机器人、计算机视觉等;孙富春,男,1964年生,教授,博士生导师,博士,IEEE高级会员,中国人工智能学会理事、智能控制与智能管理专业委员会副主任兼秘书长。主要研究方向为智能控制、机器人与飞行器的导航与控制、网络控制系统、人工认知系统的信息感知和处理等。曾获全国优秀博士论文奖、教育部新世纪人才奖、国家杰出青年基金、北京市科学技术进步二等奖。发表学术论文120余篇,其中被SCI检索52篇。
通讯作者:雷丽充.E-mail:lei.lichong@163.com.
更新日期/Last Update: 2015-06-16