Pattern recognition aspects for use in smart robot applications

مقدم أطروحة جامعية

Khulayf, Ali Abbar

الجامعة

الجامعة التكنولوجية

الكلية

-

القسم الأكاديمي

قسم الهندسة الكهربائية

دولة الجامعة

العراق

الدرجة العلمية

دكتوراه

تاريخ الدرجة العلمية

2006

الملخص الإنجليزي

His thesis investigates the applicability of some image processing and pattern recognition aspects that can be used in the field of smart robots.

Algorithms that are suitable to be used for object recognition are proposed or adopted to suit the defined goal.

The aim is to ease robot navigation and other robot tasks such as object picking or inspection.

In the first part of the thesis, the problem of 2D object recognition is discussed.

An algorithm is proposed and evaluated to automatically recognize randomly positioned objects within the camera field of view.

Image processing techniques were adapted and used to enable in the achievement of the goal.

2D object recognition is successfully achieved using the proposed object descriptors, where these descriptors provided adequate information to distinguish different objects.

Hence the methodology has succeeded in speeding up the matching process of 2D patterns.

In the second part of the thesis, the problem of image-based path planning and obstacle avoidance is considered.

A technique is proposed to enable a mobile robot to find and navigate along the shortest possible path from a given starting point to an identified goal point by avoiding collisions with possible obstacles within a given environment.

The developed technique is tested and showed validity to achieve the required aim.

In the third part of the thesis, an approach for automatic 3D object reconstruction using its shadow is presented.

The approach investigates the use of' the information inherited by the generated object shadows to reconstruct the object geometry.

An algorithm is developed that makes use of shadow data to estimate the object height and consequently reconstruct the 3D shape of the object.

Obtained results confirmed the validity of the approach.

التخصصات الرئيسية

الهندسة الكهربائية

الموضوعات

• الإدراك الحسي
• الحوسبة
• الإدراك
• الإلكترونيات الرقمية
• الروبوتات

• APA
• MLA
• AMA

لغة النص

الإنجليزية

نوع البيانات

رسائل جامعية

رقم السجل

BIM-305595