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    ASIA unversity > 資訊學院 > 資訊工程學系 > 期刊論文 >  Item 310904400/65134

    Please use this identifier to cite or link to this item: http://asiair.asia.edu.tw/ir/handle/310904400/65134

    Title: Robust Kinect-based guidance and positioning of a multidirectional robot by Log-ab recognition
    Authors: 蔡志仁;Tsai, Zhi-Ren
    Contributors: 資訊工程學系
    Keywords: CIE-Lab;Bee-colony;Kinect;Omnidirectional robot;Guidance;Positioning
    Date: 2013-11
    Issue Date: 2013-12-06 14:54:39 (UTC+8)
    Abstract: This paper introduces a robust, adaptive and learning approach, called a nonlinear Log-Artificial-Bee-Colony in (‘a’,‘b’) color space (Log-ab), for the recognition of colored markers. Log-ab optimizes the Recognition Performance Index (RPI) of the marker’s templates by using the proposed on-line Bee-colony method for the purpose of adapting in the varied light environment. Furthermore, Log-ab guides a multidirectional robot accurately to move on a desired path in the dynamic light’s disturbance by using Log-ab controller. Simultaneously, the proposed multidirectional robot with Kinect performs pattern recognition as well as measures the depth and orientation of a marker quite precisely. Then, for verification of the effectiveness of dynamic (‘a’,‘b’) color space, the results of Signal to Noise (S/N) run as well as these results show the advantages of the proposed method over the existing color-based methods. Finally, Tracking Success Rate (TSR) of robot for a specific colorful marker shows the robustness of the proposed case as compared with the popular Scale Invariant Feature Transform (SIFT) and Phase-Only Correlation method (POC).
    Appears in Collections:[資訊工程學系] 期刊論文

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