An Object Recognition Method for Indoor Robot Based on Feature-Line Flows

Author

Wei, Zhenhua ; Zhu, Hailong ; Wang, Peidong

Author_Institution

North China Electr. Power Univ., Beijing

fYear

2007

fDate

18-21 Aug. 2007

Firstpage

591

Lastpage

596

Abstract

An object recognition method for agent, indoor mobile robot for instance, is presented based on feature-line flows. Considering the surrounding of indoor scenes, we extract the feature lines from image sequence captured through camera by using Radon Transform, and then calculate their optical flows; Secondly, process those flows through PCA, distinguish moving objects from static objects by computing residual errors; If objects can not be recognized correctly because that they are occluded by something else or similar highly to other objects, we use the secondary way-rough set processing-to do it, which is based on object features. Finally, experiments´ results are presented and they show that the method appears well on both efficiency and anti-noise.

Keywords

Radon transforms; feature extraction; image sequences; mobile robots; motion estimation; object recognition; principal component analysis; robot vision; rough set theory; PCA; Radon transform; feature-line extraction; image sequence; indoor mobile robot; moving object recognition method; optical flow; rough set processing; Cameras; Feature extraction; Image motion analysis; Image sequences; Layout; Mobile robots; Object recognition; Optical computing; Principal component analysis; Robot vision systems; Principal Components Analysis (PCA); Rough Set; feature-line flow; mobile Robot; object recognition;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation and Logistics, 2007 IEEE International Conference on

Conference_Location

Jinan

Print_ISBN

978-1-4244-1531-1

Type

conf

DOI

10.1109/ICAL.2007.4338633

Filename

4338633