Vision Based Robotic System for Military Applications -- Design and Real Time Validation

Sandeep Bhat, M. Meenakshi
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引用次数: 17

Abstract

This paper presents the design, development and validation of vision based autonomous robotic system for military applications. Sum of Absolute Difference (SAD) algorithm is used for the implementation of the proposed image processing algorithm. It works on the principle of image subtraction. The developed algorithm is validated in real time by change-based moving object detection method. The novelty of this work is the application of the developed autonomous robot for the detection of mines in the war field. Developed algorithm is validated both in offline using MATLAB simulation and in real time by conducting an experiment. Once the confidence of using the algorithm is increased, developed algorithm is coded into the Microcontroller based hardware and is validated in real time. Real time experimental results match well with those of the offline simulation results. However, there is only a small mismatch in distance and accuracy of the target detection, which is due to the limitations of the hardware used for the implementation.
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基于视觉的军事机器人系统——设计与实时验证
本文介绍了基于视觉的军用自主机器人系统的设计、开发和验证。采用绝对差和(Sum of Absolute Difference, SAD)算法实现了所提出的图像处理算法。它的工作原理是图像减法。通过基于变化的运动目标检测方法对该算法进行了实时验证。这项工作的新颖之处在于将自主机器人应用于战场上的地雷探测。通过MATLAB仿真和实时实验验证了所开发算法的有效性。一旦提高了使用算法的可信度,就将所开发的算法编码到基于单片机的硬件中,并进行实时验证。实时实验结果与离线仿真结果吻合较好。然而,在目标检测的距离和精度上只有很小的不匹配,这是由于用于实现的硬件的限制。
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