The Integration of The SURF and HRI Image Algorithm with A Three-Axial Pyramidal Pneumatic Parallel Manipulator
Date Issued
2014
Date
2014
Author(s)
KUNG, SHENG-HSIANG
Abstract
The objective of this study is to develop the SURF and HRI image algorithm integrated with a three-axial pneumatic parallel manipulator. The manipulator can pick and place objects automatically by the feature information of the image through the SURF algorithm with scale- and rotation-invariants. The speed up robust feature (SURF) algorithm is used to define the feature of a target object and to match features between the current image and the object database for confirming the target. To strengthen the feature matching results and calculate the necessary reference control point, we adopt the RANSAC(RANdom Sample And Consensus) algorithm to estimate the planar transformation matrix (homography matrix) in order to accurately mark the center of target. The ASUS Xtion Pro Live depth camera which can directly estimate the 3-D location of target point is used in this study. A set of coordinate estimation calibration method is developed to improve the accuracy of target location estimation.
Human-Robot-Interaction (HRI) offers a way to enable untrained users to interact with robots more easily and efficiently. This study also presents a method for hand gesture recognition to command the manipulator. The stages include skin detection to effectively capture only the skin region of the hand, noise elimination, and applications of the morphology to determine the active finger count. Once the finger count is determined, the information is transmitted to the manipulator controller. The end-effector of the manipulator can then move to the desired location according to the finger count. Finally, the experiments of the three-axial manipulator end-effector integrated with the feature recognition algorithm demonstrate that the proposed methods can achieve the feature recognition and pick and place of the target object successfully.
Subjects
影像辨識
並聯式機構機械臂
加速強健特徵點演算法
隨機取樣篩選演算法
手勢辨識
Type
thesis
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