Author/Authors :
UZER, Mustafa Serter Selçuk Üniversitesi - Ilgın Meslek Yüksekokulu - Elektronik Teknolojisi Bölümü, Turkey , YILMAZ, Nihat Selçuk Üniversitesi - Mühendislik-Mimarlık Fakültesi - Elektrik-Elektronik Mühendisliği Bölümü, Turkey , BAYRAK, Mehmet Mevlana Üniversitesi - Mühendislik Fakültesi - Elektrik-Elektronik Mühendisliği Bölümü, Turkey
Title Of Article :
A REAL-TİME TRACKING APPLICATION OF DIFFERENT COLOURED OBJECTS WITH A VISION BASED MOBILE ROBOT
Abstract :
In this study, a real-time tracking application of different colored objects with a vision based mobile robot has been implemented. The developed robot has some features that can be used in the fields of exploration, security and observation. This vision based mobile robot is autonomously operated by using image processing and robot vision techniques. The response time of the robot that can track different color (red, blue and green) objects is between 96 ms and 106 ms as suitable for real time processing. By two different developed algorithms, for blue and red color objects a %100, and for green objects a %60 recognition success is seen with experiments. In colorful object tracking experiments in linear and circular orbitals, for an average value of 5.7 cm/s speed, a 4.5 cm deviation as maximum is confirmed
NaturalLanguageKeyword :
Mobile robot , vision , image processing , real , time control , object tracking
JournalTitle :
Journal Of The Faculty Of Engineering and Architecture Of Gazi University
