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Cluster Computing
Published in: Cluster Computing 4/2013

01-12-2013

Mobile image sensors for object detection using color segmentation

Authors: Sang-Hoon Kim, Young-Sik Jeong

Published in: Cluster Computing | Issue 4/2013

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Abstract

The intelligent mobile robot with sensors and image processing embedded system combines the suction and aerodynamic attraction to achieve good balance between strong adhesion force and high mobility. Experimental results showed that the robot can move upward on the wall at the speed of 2.9 m/min and carry 5 kg payload in addition to 2.5 kg self-weight, which record the highest payload capacity among climbing robots of similar size. It also implements object detection ability using effective color transform and segmentation technique for the exact target detection on the wall using a embedded camera system, communication module and several active sensors.
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Literature
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Clark, J., Goldman, D., Lin, P., Lynch, G., Chen, T., Komsuoglu, H., Full, R., Koditschek, D.: Design of a bio-inspired dynamical vertical climbing robot. In: Proceedings of Robotics: Science and Systems 2007, Atlanta, Georgia, USA, June 2007
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Hirose, S., Tsutsumitake, H.: Disk rover: “A wall-climbing robot using permanent magnet disks”. In: Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, Raleigh, NC, pp. 2074–2079 (1992) CrossRef
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Ji, J., Gao, X., Fan, N., Li, K., Jiang, Z., Jiang, Z.: Adsorption performance of sliding wall climbing robot. Chin. J. Mech. Eng. (2010)
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Silva, M.F., Tenreiro Machado, J.A.: A survey of technologies and applications for climbing robots locomotion and adhesion. Instituto Superior de Engenharia do Porto Portugal (2006)
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Xiao, J., Sadegh, A.: City-Climber: a new generation wall-climbing robots. The City College, City University of New York, USA (2008)
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Kang, M.J., Moon, H.P., Choi, H.R.: Master’s thesis. SeongkyoonKwan University, A Study on the Design and Control of Wall Climbing Robot using Impeller (2010)
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Kim, S., Lee, S., Kim, S., Lee, J.: Object tracking of mobile robot using moving color and shape information for the aged walking. In: IJAST, vol. 3, pp. 59–68, February 2009
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Kim, S.: Object tracking using moving color and active contour information. In: ITC-CSSS2006, Thailand (2006)
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Kim, S., Kwon, H.: Object detection image processing based on the mobile embedded environment. Korean Soc. Comput. Game 26(1) (2013)
Metadata
Title
Mobile image sensors for object detection using color segmentation
Authors
Sang-Hoon Kim
Young-Sik Jeong
Publication date
01-12-2013
Publisher
Springer US
Published in
Cluster Computing / Issue 4/2013
Print ISSN: 1386-7857
Electronic ISSN: 1573-7543
DOI
https://doi.org/10.1007/s10586-013-0267-6

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