Circle object recognition based on monocular vision for home security robot

Abstract

In this paper, a circle object recognition method based on monocular vision for the home security robots is proposed. This vision system is able to process image and recognize a colored ball rapidly. The proposed method consists of two submodules, which are the object segmentation module and the circle detection module. In order to implement the object segmentation, the color feature is applied to find out the region of the object. After the region of the object is determined, a fast randomized circle detection method is used by checks if there have enough number radius which are the same in a circle in the region. Because of the double recognition, this system can improve the precision for detecting a colored ball. The proposed method is tested on a home security robot to find a ball. The experimental results illustrate the effectiveness of the proposed method.

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“…The robot comes with the all utilities and software's required for live streaming and surveillance so that the user can use it without any hesitation or fear that they might not be able to control it.  This surveillance robotic system will provide a lot enhanced feature over analog and the cost of the device will also be efficient during mass production [22][23].…”

Monocular vision for pose estimation in space based on cone projection

“…Compared with points and lines who lead to simpler mathematical formulation, circles contains more geometrical constraint and the projection of a circle is an ellipse which is easy to model. Because of these reasons, a wide range of applications based on circle have been described in literature, including camera calibration 10 , guiding of robot 11 and so on. Camera calibration method based on concentric circle is proposed by Zhang 10 , it described how to estimate the projection of the circle center by formulating the problem into a first order polynomial eigenvalue problem, and how the camera can be calibrated with the images of circular points or vanishing points.…”

“…Camera calibration method based on concentric circle is proposed by Zhang 10 , it described how to estimate the projection of the circle center by formulating the problem into a first order polynomial eigenvalue problem, and how the camera can be calibrated with the images of circular points or vanishing points. Li 11 proposes a monocular vision system which can recognizing colored ball rapidly for guiding of home security robot, the ball is detected by checking if the radius is within the given range after object segment based on color feature.…”

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