A Ceiling Feature-based Vision Control System for a Service Robot
作者单位：College of Computer and Control EngineeringNankai University Universiti Teknikal Malaysia Melaka Universiti Teknologi Malaysia
会议名称：《第36届中国控制会议》
主办单位：Dalian University of Technology;Systems Engineering Society of China (SESC);Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议日期：2017年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0701[理学-数学] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）]
基 金：supported in part by the Research Fellowship for International Young Scientists(No.61550110251 61650110511)
关 键 词：service robot ceiling feature orientation correction
摘 要：In this paper,we proposed a vision control system for a service robot which can provide navigation and assistance for daily *** with other sensors,vision sensor is cheap and practical,and can also perceive most of the information in the surrounding *** the variability of indoor objects,we choose an upward camera as the only sensor to extract objects and straight lines on the *** functional objects such as lights and alarms on the ceiling are detected by template matching to navigate the way of the *** the straight line features,which are rich on the ceiling,are used to correct the orientation of the *** our work,we clustered the angles of lines and refined the angles based on line *** experiments have been conducted to confirm that straight line features detected in the image can calculate the orientations correctly and the orientations are more accurate with the *** the final stage,we performed several tests on the system and the results demonstrate that the robot with vision control system has been successfully implemented the predesigned tasks.