Shuangshuang Liu, Jin Huang, Yaogao Shen, Zichang Guo
{"title":"Application of Improved VIBE Algorithm in Robot Grabbing System Based on Visual Servo","authors":"Shuangshuang Liu, Jin Huang, Yaogao Shen, Zichang Guo","doi":"10.1145/3351180.3351200","DOIUrl":null,"url":null,"abstract":"Object detection is the essential part for arm robot grabbing system. Traditional VIBE (Visual Background Extractor) algorithm is used to capture moving objects in a visual servo-based robot grabbing system, but there are three major problems in the image: ghost, shadow and hole. Aiming at the three defects of VIBE algorithm, the corresponding improvement schemes are put forward: the frame difference method combined with VIBE algorithm is designed to solve the 'ghost' problem, the improved model based on normalized RGB space is used to eliminate the 'shadow'. Finally, image enclosure algorithm is used to deal with \"holes\". Through the comparative analysis of the experimental results, the effectiveness of the improved algorithm is verified, and the above three problems are well solved.","PeriodicalId":375806,"journal":{"name":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","volume":"151 3","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1145/3351180.3351200","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
Object detection is the essential part for arm robot grabbing system. Traditional VIBE (Visual Background Extractor) algorithm is used to capture moving objects in a visual servo-based robot grabbing system, but there are three major problems in the image: ghost, shadow and hole. Aiming at the three defects of VIBE algorithm, the corresponding improvement schemes are put forward: the frame difference method combined with VIBE algorithm is designed to solve the 'ghost' problem, the improved model based on normalized RGB space is used to eliminate the 'shadow'. Finally, image enclosure algorithm is used to deal with "holes". Through the comparative analysis of the experimental results, the effectiveness of the improved algorithm is verified, and the above three problems are well solved.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
