Proceedings of the Conference of Transdisciplinary Federation of Science and Technology
The 4th Conference of Transdisciplinary Federation of Science and Technology
Session ID : 2D3-3
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Host: NPO: Transdisciplinary Federation of Science and Technology

An Object Serving System for Living Support with Image Changes using Homography Decomposition
*Shohei Aoki, Ryosuke Chiba, Yasuchika Mori
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Keywords: Object Serving, Image Processing, 3-D Measurement, SURF, Homography Matrix
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Abstract
To realize autonomous robots for living support, object serving by robots using image processing is very useful. On this task, it must be needed to measure the exact three-dimensional position of the object in a real environment. However, in practice, object recognition by pattern matching is constrained by image changes because of lighting conditions, occlusions, object rotations and so on. In this research, we solve these problems by using SURF matching and decomposing homography, and then develop a whole system for object serving by an arm robot.
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© 2011 Transdisciplinary Federation of Science and Technology
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