FFT-Based Orientation Recognition Algorithm in Mirosot

The accuracy of the object recognition is the basis for the decision-making subsystem in the centralized-control Mirosot system. This paper proposes a novel cross-power spectrum based approach to detect the orientation of the robots more accurately. In the proposed algorithm, the images of all objec...

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Bibliographic Details
Published in2008 Eighth International Conference on Intelligent Systems Design and Applications Vol. 2; pp. 478 - 481
Main Authors Xian-xiang Wu, Bao-long Guo
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2008
Subjects
Automatic control
Cameras
Decision making
fft
Image edge detection
log-polar coordinate
Machine vision
Mirosot
Orbital robotics
phase correlation
Robot kinematics
Robot vision systems
Space technology
Wireless communication
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Summary:The accuracy of the object recognition is the basis for the decision-making subsystem in the centralized-control Mirosot system. This paper proposes a novel cross-power spectrum based approach to detect the orientation of the robots more accurately. In the proposed algorithm, the images of all objects are firstly gotten by image segmentation technologies from the current-frame image. Then, the object edge image and its referenced edge image are transformed into log-polar coordinate space after FFT, by which rotation and scaling in Cartesian coordinate space can be reduced to 2-D translation in log-polar coordinate space. Finally, the orientation of the robot can be estimated by phase correlation technique. The experimental results show that the proposed method is of high accuracy with the absolute error less than 2 0 as well as of good robustness.
ISBN:9780769533827
0769533825
ISSN:2164-7143
2164-7151
DOI:10.1109/ISDA.2008.115