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Overhead vision system for mobile robot orientation detection

Robot cooperation and coordination is absolutely necessary in many industrial applications. The computation of a mobile robot position and orientation is a common task in the area of computing vision and image processing. For a successful application, it is important that the position and orientatio...

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Bibliographic Details
Main Author: Fadzilah, Hashim
Format: Thesis
Language:English
Published: Universiti Malaysia Perlis 2011
Subjects:
Mobile robot
Neural network
Vision system
Online Access:http://dspace.unimap.edu.my/xmlui/handle/123456789/12180
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spelling my.unimap-121802011-06-05T04:30:31Z Overhead vision system for mobile robot orientation detection Fadzilah, Hashim Mobile robot Neural network Vision system Robot cooperation and coordination is absolutely necessary in many industrial applications. The computation of a mobile robot position and orientation is a common task in the area of computing vision and image processing. For a successful application, it is important that the position and orientation of the mobile robot are properly determined. Computing the orientation is not a straightforward technique. Number of methods has already been studied by many researchers. These methods include the concepts of geometric moments, complex moments, and principal component analysis. In this work, a simple procedure for determining the orientation of the mobile robot using overhead vision system is presented and analysed. Cameras are used to capture the images of mobile robot at various orientations. The images are preprocessed and important features are extracted to be used in the proposed methods. In this research, simple methods to extract the features from the preprocessed images are developed. The extracted features are then used as the inputs to a simple feed forward neural network. The orientation of each image is measured manually and used as a target vector. A simple neural network model is developed to estimate the orientation of the mobile robot. Simulation results show that the proposed algorithms can be used to estimate the orientation of the mobile robot accurately. 2011-06-05T04:30:31Z 2011-06-05T04:30:31Z 2010 Thesis http://hdl.handle.net/123456789/12180 en Universiti Malaysia Perlis School of Computer & Communication Engineering
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic Mobile robot
Neural network
Vision system
spellingShingle Mobile robot
Neural network
Vision system
Fadzilah, Hashim
Overhead vision system for mobile robot orientation detection
description Robot cooperation and coordination is absolutely necessary in many industrial applications. The computation of a mobile robot position and orientation is a common task in the area of computing vision and image processing. For a successful application, it is important that the position and orientation of the mobile robot are properly determined. Computing the orientation is not a straightforward technique. Number of methods has already been studied by many researchers. These methods include the concepts of geometric moments, complex moments, and principal component analysis. In this work, a simple procedure for determining the orientation of the mobile robot using overhead vision system is presented and analysed. Cameras are used to capture the images of mobile robot at various orientations. The images are preprocessed and important features are extracted to be used in the proposed methods. In this research, simple methods to extract the features from the preprocessed images are developed. The extracted features are then used as the inputs to a simple feed forward neural network. The orientation of each image is measured manually and used as a target vector. A simple neural network model is developed to estimate the orientation of the mobile robot. Simulation results show that the proposed algorithms can be used to estimate the orientation of the mobile robot accurately.
format Thesis
author Fadzilah, Hashim
author_facet Fadzilah, Hashim
author_sort Fadzilah, Hashim
title Overhead vision system for mobile robot orientation detection
title_short Overhead vision system for mobile robot orientation detection
title_full Overhead vision system for mobile robot orientation detection
title_fullStr Overhead vision system for mobile robot orientation detection
title_full_unstemmed Overhead vision system for mobile robot orientation detection
title_sort overhead vision system for mobile robot orientation detection
publisher Universiti Malaysia Perlis
publishDate 2011
url http://dspace.unimap.edu.my/xmlui/handle/123456789/12180
_version_ 1643790523191787520
score 13.211869

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