A Fast Object Recognition and Categorization Technique for Robot Grasping Using the Visual Bag of Words

被引：0

作者：

Hannat, Mohamed ^{[1
]}

Zrira, Nabila ^{[1
]}

Raoui, Younes ^{[1
]}

Bouyakhf, El Houssine ^{[1
]}

机构：

[1] Mohammed V Univ, LIMIARF, FSR, BP 1014, Rp Rabat, Morocco

来源：

PROCEEDINGS OF 2016 5TH INTERNATIONAL CONFERENCE ON MULTIMEDIA COMPUTING AND SYSTEMS (ICMCS) | 2016年

关键词：

Visual categorization; Bag of Words (BoW); OpenCV GPU; SURF; Object recognition;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present in this paper a real-time method for visual categorization to do robot grasping. We describe an object database with SURF feature points which we quantify with the Kmeans clustering algorithm to make visual words. Then, we train a Support Vector Machine classifier having as entries the distribution of the bag of features extracted earlier. Likewise, we do object recognition using the SVM algorithm. The real-time implementation is done with the OpenCV GPU. The application aims to pick up an object and drop it using our robot manipulator equipped with a camera using our visual system. Finally, the results of our experiments of the object recognition show an average of recognition between 95% and 100%.

引用

页码：173 / 178

页数：6

共 50 条

[31] Object Recognition Using SVM Based Bag of Combined Features
Mehboob, Fozia
Abbas, Muhammad
Rauf, Abdul
INTELLIGENT COMPUTING, VOL 1, 2019, 858 : 497 - 510
[32] Machine Learning for Hand Gesture Recognition Using Bag-of-words
Benmoussa, Marouane
Mahmoudi, Abdelhak
2018 INTERNATIONAL CONFERENCE ON INTELLIGENT SYSTEMS AND COMPUTER VISION (ISCV2018), 2018,
[33] Visual Object Recognition for Robot Tasks in Real-Life Scenarios
Martinez-Martin, Ester
del Pobil, Angel P.
2013 10TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI), 2013, : 644 - 651
[34] Tactile object recognition in early phases of grasping using underactuated robotic hands
Vinicius Prado da Fonseca
Xianta Jiang
Emil M. Petriu
Thiago Eustaquio Alves de Oliveira
Intelligent Service Robotics, 2022, 15 : 513 - 525
[35] Tactile object recognition in early phases of grasping using underactuated robotic hands
da Fonseca, Vinicius Prado
Jiang, Xianta
Petriu, Emil M.
de Oliveira, Thiago Eustaquio Alves
INTELLIGENT SERVICE ROBOTICS, 2022, 15 (04) : 513 - 525
[36] Recognition of Grasping Patterns Using Deep Learning for Human-Robot Collaboration
Amaral, Pedro
Silva, Filipe
Santos, Vitor
SENSORS, 2023, 23 (21)
[37] Object Recognition and Classification Based on Improved Bag of Features using SURF AND MSER Local Feature Extraction
Ramya, P. P.
James, Ajay
PROCEEDINGS OF 2019 1ST INTERNATIONAL CONFERENCE ON INNOVATIONS IN INFORMATION AND COMMUNICATION TECHNOLOGY (ICIICT 2019), 2019,
[38] Automatic Detection of Epileptic Waves in Electroencephalograms Using Bag of Visual Words and Machine Learning
Sofia Munoz, Marlen
Sarmiento Torres, Camilo Ernesto
Lopez, Diego M.
Salazar-Cabrera, Ricardo
Vargas-Canas, Rubiel
BRAIN INFORMATICS, BI 2020, 2020, 12241 : 163 - 172
[39] A study on object recognition using deep learning for optimizing categorization of radioactive waste
Kim, Jeong-Guk
Jang, Sung-Chan
Kang, Il-Sik
Lee, Dong-Ju
Lee, Jin-Woo
Park, Hee-Seoung
PROGRESS IN NUCLEAR ENERGY, 2020, 130
[40] A Salient Based Bag of Visual Word Model (SBBoVW): Improvements toward Difficult Object Recognition and Object Location in Image Retrieval
Mansourian, Leila
Abdullah, Muhamad Taufik
Abdullah, Lilli Nurliyana
Azman, Azreen
Mustaffa, Mas Rina
KSII TRANSACTIONS ON INTERNET AND INFORMATION SYSTEMS, 2016, 10 (02): : 769 - 786

← 1 2 3 4 5 →