A fast image processing based robot identification method for Surveyor SRV-1 robots

Author

Bolla, K. ; Istenes, Z. ; Kovacs, Tibor ; Fazekas, Gyorgy

Author_Institution

Kecskemet Coll., Kecskemet, Hungary

fYear

2011

fDate

3-7 July 2011

Firstpage

1003

Lastpage

1009

Abstract

This paper focuses on a barcode pattern based kin recognition, identification and distance evaluation method for mobile-robot swarms. Every robot in the swarm is equipped with a unique, barcode like pattern. The robots capture images of other teammates and then the images are analysed by a Fast Fourier Transformation (FFT) in order to find kin robots on the captured image. After FFT analysis the identification is also possible with our edge detection based identification method. Moreover one of the best features of this method is the capability of estimating the robot-robot distances with a single camera image. Our method was implemented on physical robots and was tested using the Surveyor SRV-1 robot system.

Keywords

distance measurement; edge detection; fast Fourier transforms; mobile robots; multi-robot systems; robot vision; barcode pattern; distance evaluation method; edge detection; fast Fourier transformation; image processing; kin identification; kin recognition; mobile robot swarms; robot identification method; robot-robot distance estimation; surveyor SRV-1 robots; Cameras; Image edge detection; Pattern recognition; Robot kinematics; Robot vision systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on

Conference_Location

Budapest

ISSN

2159-6247

Print_ISBN

978-1-4577-0838-1

Type

conf

DOI

10.1109/AIM.2011.6027147

Filename

6027147