Implementation of real-time object recognition system for home-service robot by integrating SURF and BRISK

机译：集成SURF和BRISK实现家庭服务机器人实时目标识别系统

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摘要

This paper proposes a real-time object recognition systems for recognizing known objects and searching unknown objects for home service robot. The object recognition system is mainly used in recognizing known objects, which combined Compute Unified Device Architecture (CUDA), Speeded Up Robust Features (SURF) detector and Binary Robust Invariant Scalable Keypoints (BRISK) descriptor for improving the computation speed and decreasing the consumption on memory. On the other side, the visual perception system is usually used for searching unknown objects, which calculated the depth differences and found the contours of objects. The experimental results in the laboratory and the competition in robot@home league at RoboCup Japan Open 2013 Tokyo illustrate that the robot can successfully real-time recognize the known objects and search the unknown objects.

机译：本文提出了一种实时对象识别系统，用于识别已知对象并搜索家庭服务机器人的未知对象。对象识别系统主要用于识别已知对象，它结合了计算统一设备体系结构（CUDA），加速鲁棒特征（SURF）检测器和二进制鲁棒不变可扩展关键点（BRISK）描述符，从而提高了计算速度并减少了运算量。记忆。另一方面，视觉感知系统通常用于搜索未知对象，该未知对象计算深度差并找到对象的轮廓。在2013年东京RoboCup日本公开赛的实验室以及robot @ home联赛中的实验结果表明，该机器人可以成功地实时识别已知对象并搜索未知对象。

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来源
《2014 IEEE International Conference on System Science ang Engineering》|2014年|273-278|共6页
会议地点 Shanghai(CN)
作者
Hsuan Lee; Chih-Yin Liu; Chih-Jui Lin; Chien-Feng Huang; Ri-Wei Deng; Li Tzuu-Hseng S.;
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作者单位

aiRobots Lab., Department of Electrical Engineering, National Cheng Kung University, Tainan, Taiwan, ROC;

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原文格式 PDF
正文语种 eng
中图分类
关键词
Acoustics; Graphics processing units; Image recognition; Real-time systems; Search problems; Speech; Three-dimensional displays;

机译：声学;图形处理单元；图像识别；实时系统；搜索问题；言语;三维显示器；;

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机译：基于FPGA的使用卷积神经网络实现实时对象识别系统
2. Object Detection and Recognition for Assistive Robots: Experimentation and Implementation [J] . Ester Martinez-Martin, Angel P. del Pobil IEEE Robotics & Automation Magazine . 2017,第3期

机译：辅助机器人的目标检测与识别：实验与实现
3. Vision based Object Recognition and Localization by a Network Connected Distributed Robotic Systems [J] . M SHUJA AHMED Electronic Letters on Computer Vision and Image Analysis: ELCVIA . 2012,第1期

机译：网络连接的分布式机器人系统基于视觉的对象识别和定位
4. Implementation of real-time object recognition system for home-service robot by integrating SURF and BRISK [C] . Hsuan Lee, Chih-Yin Liu, Chih-Jui Lin, IEEE International Conference on System Science ang Engineering . 2014

机译：通过集成冲浪和快速来实现家庭服务机器人实时对象识别系统
5. Design and implementation of a modular object-oriented integration architecture for real-time systems. [D] . Godwin, Lester Earl, IV. 1992

机译：实时系统的模块化面向对象集成体系结构的设计和实现。
6. Three-Dimensional Object Recognition and Registration for Robotic Grasping Systems Using a Modified Viewpoint Feature Histogram [O] . Chin-Sheng Chen, Po-Chun Chen, Chih-Ming Hsu 2014

机译：使用改进的视点特征直方图的机器人抓取系统的三维对象识别和配准
7. The Validation and Implementation of Real-Time Robotics Systems Using Cleopatra Object-Oriented Physically-Correct Specifications [O] . Azer Bestavros 1996

机译：使用Cleopatra面向对象的物理校正规范验证和实现实时机器人系统

Implementation of real-time object recognition system for home-service robot by integrating SURF and BRISK

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