TY - GEN
T1 - Selection of image features for robot vision system
AU - Zhao, Qingjie
AU - Deng, Hongbin
AU - Zhang, Wenyao
AU - Mu, Aixia
PY - 2007
Y1 - 2007
N2 - In robot visual servo the system performance has a close relationship with image features. This paper mainly discusses two kinds of image features. One is geometrical moments, and the other is eigen-space transform features, which can be regarded as a kind of overall image features. Using overall features may avoid designing artificial marks on the objects, and make image feature extraction algorithms easy be used for different objects. The overall image features can also avoid the problems of limited robot manipulating scope and inconvenience in computation. The eigen-space transform algorithm is detailedly discussed. The experiment results show that the moment features are sensitive to disturbance from the environment, and the features from eigen-space transform are more anti-noise than the moment features. We successfully use this kind of image features in robot visual servo and in robot motion simulation.
AB - In robot visual servo the system performance has a close relationship with image features. This paper mainly discusses two kinds of image features. One is geometrical moments, and the other is eigen-space transform features, which can be regarded as a kind of overall image features. Using overall features may avoid designing artificial marks on the objects, and make image feature extraction algorithms easy be used for different objects. The overall image features can also avoid the problems of limited robot manipulating scope and inconvenience in computation. The eigen-space transform algorithm is detailedly discussed. The experiment results show that the moment features are sensitive to disturbance from the environment, and the features from eigen-space transform are more anti-noise than the moment features. We successfully use this kind of image features in robot visual servo and in robot motion simulation.
KW - Eigen space transform
KW - Image feature
KW - Robot vision
UR - http://www.scopus.com/inward/record.url?scp=40649104381&partnerID=8YFLogxK
U2 - 10.1109/ICAL.2007.4339023
DO - 10.1109/ICAL.2007.4339023
M3 - Conference contribution
AN - SCOPUS:40649104381
SN - 1424415314
SN - 9781424415311
T3 - Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2007
SP - 2622
EP - 2626
BT - Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2007
T2 - 2007 IEEE International Conference on Automation and Logistics, ICAL 2007
Y2 - 18 August 2007 through 21 August 2007
ER -