1. An Intelligence Image Processing Method of Visual Servo System in Complex Environment
- Author
-
Di Li, Shipeng Li, Juan Wang, and Chunhua Zhang
- Subjects
business.industry ,Computer science ,ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION ,Image processing ,Filter (signal processing) ,Visual servoing ,Convolutional neural network ,Region of interest ,Robot ,Segmentation ,Computer vision ,Artificial intelligence ,Electrical and Electronic Engineering ,business ,Instrumentation - Abstract
In robot visual servoing system, effective detected the region of interest area (ROI) in target images is the first problem should be solved, but the detection is susceptible to an unstructured environment. In this paper, an instance segmentation network algorithm based on Mask Region Convolutional Neural Networks (Mask R-CNN) framework is proposed for ROI image preprocessing. As instance segmentation technology can distinguish complex environmental information, so first with this advantage filter out message such as shape or similar area to target image, then with semantic segmentation technology add special category labels to the filtered images and distinguish different individual instances in similar categories. Finally through the series steps aforementioned, robot vision system can overcome the impact of environmental factors and identify the target image. The proposed method is used to detect target image under five constraints such as occlusion and reflection, result shows the algorithm can effectively deal with challenges that brought by complex constraints, and even can predict the location data of missing information based on some image information. In addition, based on the algorithm proposed in this paper, we used one seven axis robot visual servo platform, executed visual servoing experiment under different unstructured environments, further verifies the effectiveness of our proposed method.
- Published
- 2022