TY - GEN
T1 - Realization of affine SIFT real-time image processing for home service robot
AU - Wang, Ying Hao
AU - Cheng, Hao En
AU - Lin, Chih Jui
AU - Deng, Ri Wei
AU - Lee, Hsuan
AU - Li, Tzuu Hseng S.
PY - 2013/11/18
Y1 - 2013/11/18
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84887468786&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84887468786&partnerID=8YFLogxK
U2 - 10.1109/ICSSE.2013.6614648
DO - 10.1109/ICSSE.2013.6614648
M3 - Conference contribution
AN - SCOPUS:84887468786
SN - 9781479900091
T3 - ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings
SP - 141
EP - 146
BT - ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings
T2 - IEEE International Conference on System Science and Engineering, ICSSE 2013
Y2 - 4 July 2013 through 6 July 2013
ER -