カラー画像処理による移動ロボットプラットフォームの制御アルゴリズム
Algorithm Development for Controlling Movement of a Robotic Platform by Digital Image Processing
カメラ画像から色情報でロボットと障害物を識別し、ヒストグラム解析とセグメンテーションで相対位置を求めて移動を制御するアルゴリズムを開発した。
著者: Benjamin Andres Huerfano Zapata, Humberto Numpaque Lopez, Cindy Lorena Diaz Murillo
分類: cs.RO, cs.CV
原文アブストラクト
The following work shows an algorithm that can process images digitally with the goal of control the movement of a mobile robotic platform in a certain environment. The platform is identified with a specific color, and displacement environment of the platform shift has identified obstacles with different colors, for both cases it worked with the RGB color scale. To obtain the control's movement of the robotic platform, the algorithm was developed in C programming language, and used the Open CV libraries for processing images captured by a video camera on the Dev-platform C + +. The video camera was previously calibrated using ZHANG technique where parameters were obtained focal length and tilt focal pixel. In the algorithm histogram analysis and segmentation of the image were developed, allowing to determine exactly the relative position of the platform with respect to the obstacles and movement strategy to follow.