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Robust Stereo-Vision Based 3D Object Reconstruction for the Assistive Robot FRIENDRISTIC-DURRANT, D.   , GRIGORESCU, S. M. , GRASER, A. , COJBASIC, Z. , NIKOLIC, V. |
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Author keywords
robust robot vision, feedback control in image processing, feature-based object recognition, neuro-fuzzy classification, assistive robot
References keywords
vision(8), systems(8), object(7), robots(6), robotics(6), graeser(6), system(5), robot(5), autonomous(5), robotic(4)
Blue keywords are present in both the references section and the paper title.
About this article
Date of Publication: 2011-11-30
Volume 11, Issue 4, Year 2011, On page(s): 15 - 22
ISSN: 1582-7445, e-ISSN: 1844-7600
Digital Object Identifier: 10.4316/AECE.2011.04003
Web of Science Accession Number: 000297764500003
SCOPUS ID: 84856594148
Abstract
A key requirement of assistive robot vision is the robust 3D object reconstruction in complex environments for reliable autonomous object manipulation. In this paper the idea is presented of achieving high robustness of a complete robot vision system against external influences such as variable illumination by including feedback control of the object segmentation in stereo images. The approach used is to change the segmentation parameters in closed-loop so that object features extraction is driven to a desired result. Reliable feature extraction is necessary to fully exploit a neuro-fuzzy classifier which is the core of the proposed 2D object recognition method, predecessor of 3D object reconstruction. Experimental results on the rehabilitation assistive robotic system FRIEND demonstrate the effectiveness of the proposed method. |
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Faculty of Electrical Engineering and Computer Science
Stefan cel Mare University of Suceava, Romania
All rights reserved: Advances in Electrical and Computer Engineering is a registered trademark of the Stefan cel Mare University of Suceava. No part of this publication may be reproduced, stored in a retrieval system, photocopied, recorded or archived, without the written permission from the Editor. When authors submit their papers for publication, they agree that the copyright for their article be transferred to the Faculty of Electrical Engineering and Computer Science, Stefan cel Mare University of Suceava, Romania, if and only if the articles are accepted for publication. The copyright covers the exclusive rights to reproduce and distribute the article, including reprints and translations.
Permission for other use: The copyright owner's consent does not extend to copying for general distribution, for promotion, for creating new works, or for resale. Specific written permission must be obtained from the Editor for such copying. Direct linking to files hosted on this website is strictly prohibited.
Disclaimer: Whilst every effort is made by the publishers and editorial board to see that no inaccurate or misleading data, opinions or statements appear in this journal, they wish to make it clear that all information and opinions formulated in the articles, as well as linguistic accuracy, are the sole responsibility of the author.
