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

研究成果: Conference contribution

摘要

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.

原文English
主出版物標題ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings
頁面141-146
頁數6
DOIs
出版狀態Published - 2013 十一月 18
事件IEEE International Conference on System Science and Engineering, ICSSE 2013 - Budapest, Hungary
持續時間: 2013 七月 42013 七月 6

出版系列

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

Other

OtherIEEE International Conference on System Science and Engineering, ICSSE 2013
國家Hungary
城市Budapest
期間13-07-0413-07-06

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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  • 引用此

    Wang, Y. H., Cheng, H. E., Lin, C. J., Deng, R. W., Lee, H., & Li, T. H. S. (2013). Realization of affine SIFT real-time image processing for home service robot. 於 ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings (頁 141-146). [6614648] (ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings). https://doi.org/10.1109/ICSSE.2013.6614648