Realization of affine SIFT real-time image processing for home service robot

Ying Hao Wang, Hao En Cheng, Chih Jui Lin, Ri Wei Deng, Hsuan Lee, Tzuu Hseng S. Li

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper mainly discusses the realization of affine Scale-Invariant Feature Transform (SIFT) real-time image processing method for 'May' who is a home service robot designed and implemented by aiRobots laboratory. Firstly, a six-step method is proposed to create image database. Then the SIFT algorithm is adopted to detect features with this database, the error rate of features is reduced. Integration of the six-step method and SIFT can significantly decrease time for setting up the database. Thirdly, the object-recognition vision system is built up by parallel Affine-SIFT (ASIFT) algorithm, where the OpenGL is used to reduce the calculation time of affine projection and SiftGPU (Graphics Processing Unit) is adopted to accomplish the real-time operation speed of SIFT. Finally, the real-time grasping experiments demonstrate the feasibility and validity of the proposed scheme.

Original languageEnglish
Title of host publicationICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings
Pages141-146
Number of pages6
DOIs
Publication statusPublished - 2013 Nov 18
EventIEEE International Conference on System Science and Engineering, ICSSE 2013 - Budapest, Hungary
Duration: 2013 Jul 42013 Jul 6

Publication series

NameICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings

Other

OtherIEEE International Conference on System Science and Engineering, ICSSE 2013
CountryHungary
CityBudapest
Period13-07-0413-07-06

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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