[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(1):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(1):37-42.[doi:10.3969/j.issn.1673-4785.201311050]
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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]
面向灵巧操作的视觉目标识别
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
10
期数:
2015年第1期
页码:
37-42
栏目:
学术论文—机器感知与模式识别
出版日期:
2015-03-25
- Title:
- Visual object recognition for smart manipulation
- Keywords:
- Kinect; visual; background subtraction; the frame differenece; T-S fuzzy logical; object recognition; fine control; smart manipulation
- 分类号:
- TP391.4
- 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.
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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。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