Title :
A robust autonomous mobile forklift pallet recognition
Author :
Cui, Guang-zhao ; Lu, Lin-sha ; He, Zhen-dong ; Yao, Li-na ; Yang, Cun-xiang ; Bu-yi Huang ; Hu, Zhi-hong
Author_Institution :
Henan Province Key Lab. of Inf. & Electr. Appliances, Zhengzhou Univ. of Light Ind., Zhengzhou, China
Abstract :
A visual pallet recognition system based on the accurate color segmentation is proposed. The basic idea is to get the pallet color feature samples from the images in working environment before the autonomous mobile forklift works. Then the algorithms of morphological filtering, Sobel edge detection and Hough transform are used to get the pallet forking side. At last, according to two corners of the forking side, the pallet midpoint coordinates of the forking part and the direction of the forking side are calculated, which are the pose provided for the autonomous mobile forklift engagement. Experimental results show that the visual recognition system has good real-time and robustness.
Keywords :
Hough transforms; edge detection; filtering theory; fork lift trucks; image colour analysis; image segmentation; industrial robots; mobile robots; robot vision; Hough transform; Sobel edge detection; color segmentation; morphological filtering algorithms; robust autonomous mobile forklift pallet recognition; visual pallet recognition system; visual recognition system; Robustness; Color-based image segmentation; Hough transform; Image filtering;
Conference_Titel :
Informatics in Control, Automation and Robotics (CAR), 2010 2nd International Asia Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-5192-0
Electronic_ISBN :
1948-3414
DOI :
10.1109/CAR.2010.5456688