Autonomous positioning using colour based object detection and pose estimation
Computer vision discipline has gained popularity for the past few decades. One of the significant applications of computer vision is image-based robot control. The system allows machines to emulate human vision and understand things they see through calculations and processes of image information f...
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| Format: | Final Year Project (FYP) |
| Language: | English |
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2015
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| Online Access: | http://hdl.handle.net/10356/64689 |
| _version_ | 1824455124468105216 |
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| author | Hadisaputra, Andika |
| author2 | Wang Jianliang |
| author_facet | Wang Jianliang Hadisaputra, Andika |
| author_sort | Hadisaputra, Andika |
| collection | NTU |
| description | Computer vision discipline has gained popularity for the past few decades. One of the significant applications of computer vision is image-based robot control. The system allows machines to emulate human vision and understand things they see through calculations and processes of image information from the camera. In this project, a vision-guided positioning algorithm was developed by utilising computer vision technology. The system can detect a target object captured by robot’s camera and calculate the position and orientation of the object. The target object specified by a unique pattern of four colour papers was detected using the colour detection method. The centre coordinate of each colour in the image plane was calculated using the image moment theory. Given the object points in 3D coordinate space and the projection in the 2D image plane, the position and the orientation of the target object relative to the robot was estimated using pose estimation algorithm. Robot motional control for autonomous positioning was performed based on the target object’s pose information. This thesis describes main theories used in this project, algorithm development for the system, and recommendations for future work. |
| first_indexed | 2025-02-19T03:33:13Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/64689 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2025-02-19T03:33:13Z |
| publishDate | 2015 |
| record_format | dspace |
| spelling | ntu-10356/646892023-07-07T15:57:12Z Autonomous positioning using colour based object detection and pose estimation Hadisaputra, Andika Wang Jianliang School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Computer vision discipline has gained popularity for the past few decades. One of the significant applications of computer vision is image-based robot control. The system allows machines to emulate human vision and understand things they see through calculations and processes of image information from the camera. In this project, a vision-guided positioning algorithm was developed by utilising computer vision technology. The system can detect a target object captured by robot’s camera and calculate the position and orientation of the object. The target object specified by a unique pattern of four colour papers was detected using the colour detection method. The centre coordinate of each colour in the image plane was calculated using the image moment theory. Given the object points in 3D coordinate space and the projection in the 2D image plane, the position and the orientation of the target object relative to the robot was estimated using pose estimation algorithm. Robot motional control for autonomous positioning was performed based on the target object’s pose information. This thesis describes main theories used in this project, algorithm development for the system, and recommendations for future work. Bachelor of Engineering 2015-05-29T06:19:54Z 2015-05-29T06:19:54Z 2015 2015 Final Year Project (FYP) http://hdl.handle.net/10356/64689 en Nanyang Technological University 84 p. application/pdf |
| spellingShingle | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Hadisaputra, Andika Autonomous positioning using colour based object detection and pose estimation |
| title | Autonomous positioning using colour based object detection and pose estimation |
| title_full | Autonomous positioning using colour based object detection and pose estimation |
| title_fullStr | Autonomous positioning using colour based object detection and pose estimation |
| title_full_unstemmed | Autonomous positioning using colour based object detection and pose estimation |
| title_short | Autonomous positioning using colour based object detection and pose estimation |
| title_sort | autonomous positioning using colour based object detection and pose estimation |
| topic | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics |
| url | http://hdl.handle.net/10356/64689 |
| work_keys_str_mv | AT hadisaputraandika autonomouspositioningusingcolourbasedobjectdetectionandposeestimation |