engleski

Mobile Robot Vision System for Object Color Tracking

By using a vision system mobile robot autonomy increases significantly. Instead of a robot motion programming, robot task programming is possible. In the paper a vision system of the eMIR mobile robot is presented that gives the robot ability to recognize objects by their color. For the object recognition HSV color system is used where a picture divides into cells with dimensions of 9x9 pixels. After determining the cell similarity with the reference sample, identified cells are grouped in clusters that are a basis for the object recognition. For each object, size and center of gravity are determined. The whole process of recognition is performed in a real time, with own developed algorithms for image processing. Recognition process is not carried out in the whole image, but only around the area where the object is detected in the previous recognition step. This allows fast search and recognition of not only static objects but also moving objects. The motion of the robot towards recognized object takes place in three stages: 1. robot's rotation, to allow bringing of the object being searched for in the robot's visual field, 2. aligning of the robot, by its rotation, until the found object comes into the center of the image that is in front of the robot, and 3. movement of the robot (simultaneous translation and rotation) to a distance of 10 cm.

mobile robot; vision; docking; color tracking

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