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Erschienen in:
2012 | OriginalPaper | Buchkapitel
Research on Vision System for Service Robot Based on Virtual Space Environment
verfasst von : Longhui Wu, Shigang Cui, Li Zhao, Zhigang Bing
Erschienen in: Advances in Technology and Management
Verlag: Springer Berlin Heidelberg
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In this paper, the Pioneer3 mobile robot produced by ActivMedia Robotics Corporation is taken as research platform based on multi-sensor information fusion technology. Visual navigation system of mobile robot obtained the internal and external parameters of camera through the Canon camera calibration, also the required coordinate of operation. Using the Camshift algorithm realized to track the target point real-time which reduced the searching scope of target to improve the tracking speed according to the color information of target position, and then tend to the accurate spot position. Finally the Manipulator used three degree-of-freedom model to complete actual operation under the virtual space environment. The experiment indicates that this control strategy with high robustness and strong real-time performance has good potential value which further improves the operational efficiency of service robots.