The Open Automation and Control Systems Journal

2015, 7 : 1875-1881
Published online 2015 October 20. DOI: 10.2174/1874444301507011875
Publisher ID: TOAUTOCJ-7-1875

Recognizing Furniture Supported by Legs Based on Vision Sensor

Qing Ma , Chuanbo Zhou , Xin Wang and Shilong Xu
Department of Control Science and Engineering, University of Shandong, Jinan, Shandong, 250061, P.R. China.

ABSTRACT

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 finally, 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.

Keywords:

Object recognition, self-adapting threshold, service robot, top-hat transformation.