Title :
Visual motion detection with hand-eye manipulator using statistic moments classifiers and fuzzy logic approach-study, application and comparation
Author :
Amaral, Tito G. ; Crisóstomo, Manuel ; Pires, V. Fernão ; Almeida, Aníbal T.
Author_Institution :
Escola Superior Tecn. Setubal, Coimbra Univ., Portugal
Abstract :
In this paper, we address the visual servo control of a robot manipulator under a camera-in-hand configuration. The goal is to recognise several types of different objects in a moving conveyer belt using a camera attached to a robot arm. To accomplish the object recognition three different methods are proposed: statistic based on Hu moments, statistic based on affine moments and a fuzzy based classifier. Validity and effectiveness of the proposed methods are evaluated by real-time experiments using a CCD camera attached to an ADEPT robot arm. Comparisons between the three proposed methods based on experimental results are also presented
Keywords :
CCD image sensors; conveyors; fuzzy set theory; manipulators; motion control; object recognition; position control; robot vision; statistical analysis; ADEPT robot arm; CCD camera; Hu moments; affine moments; camera; camera-in-hand configuration; fuzzy based classifier; fuzzy logic; hand-eye manipulator; moving conveyer belt; object recognition; robot arm; robot manipulator; statistic moments classifiers; visual servo control; Belts; Cameras; Charge coupled devices; Charge-coupled image sensors; Manipulators; Motion detection; Object recognition; Robot vision systems; Servosystems; Statistics;
Conference_Titel :
Industrial Electronics Society, 2001. IECON '01. The 27th Annual Conference of the IEEE
Conference_Location :
Denver, CO
Print_ISBN :
0-7803-7108-9
DOI :
10.1109/IECON.2001.975585
