Four-Leg Object Recognition for Service Robot Based on Top-hat Transformation
- Resource Type
- Article
Text
- Authors
- Hao Wu; Guohui Tian; Xinran Wang; Fei Lu
- Source
- International Journal of Control and Automation, 12/30/2014, Vol. 7, Issue 12, p. 311-322
- Subject
- Top-hat transformation
self-adapting threshold
service robot
object recognition
- Language
- 영어(ENG)
- ISSN
- 2005-4297
A method of object recognition for objects with special topological structure is developed based on top-hat transformation for service robot. The objects with four legs are easily detected and recognized by service robot with laser ranger array by this method. First, the top-hat transformation in one dimension is reviewed, then the recognition strategy of self-adapting threshold for objects with special topological structure is proposed, and the general data process for object recognition and position is proposed and analyzed. Experimental results show that the process of object recognition based on top-hat transformation proposed in this article is an effective and accurate application.