Integrating Automated Object Detection into Mapping in USARSim
Integrating Automated Object Detection into Mapping in USARSim
复制标题
将自动对象检测集成到 USARSim 的绘图中
DOI：
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发表时间：
2009
期刊：
影响因子：
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通讯作者：
J. Hoog
中科院分区：
文献类型：
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作者：
S. Cameron;J. Hoog
对象识别是计算机视觉的一个深入研究的领域，并已成功应用于各种机器人应用。然而，很少有研究已经做了对应用模式识别技术的机器人搜索和救援。本文介绍了一个对象识别系统的机器人搜索和救援的USARSim模拟器的基础上，中提琴和琼斯的算法的发展。在介绍了所使用的对象识别方法的细节之后，我们概述了如何将实时对象识别集成到控制器软件中。到目前为止，工作重点是受害者的头部（正面和侧面视图）以及椅子和植物等常见物体。我们比较我们的检测系统的结果与USARSim的现有的模拟受害者传感器，并讨论了相关的真实的搜索和救援机器人系统。
Object recognition is a well studied field of computer vision, and has been applied with success to a variety of robotics applications. However, little research has been done towards applying pattern recognition techniques to robotic search and rescue. This paper describes the development of an object recognition system for robotic search and rescue within the USARSim simulator, based on the algorithm of Viola and Jones. After an introduction to the specifics of the object recognition method used, we give a general overview of how we integrate our real-time object recognition into our controller software. Work so far has focused on victims’ heads (frontal and profile views) as well as common objects such as chairs and plants. We compare the results of our detection system with those of USARSim’s existing simulated victim sensor, and discuss the relevance to real search and rescue robot systems.