Visual identification and location algorithm for robot based on the multimodal information

Abstract

To overcome the problem of a single image source, complex processing and inaccurate positioning, a visual identification and location algorithm based on multi-modal information is proposed, and the fusion processing is performed by extracting the multimodal information of the two-dimensional image and the point cloud image to realize object recognition and positioning. Firstly the target 2D image information is obtained by RGB camera. The contour is recognized through the contour detection and matching process. Then the image SIFT feature is extracted for location tracking and the position of the object is obtained. Meanwhile obtaining a point cloud image by RGB-D camera and the best model can be sorted through pre-processing, Euclidean cluster segmentation, computing VFH feature and KD-tree searching, identifying the point cloud image. Then the orientation is obtained by registering the point clouds. Finally, the two-dimensional images and point cloud image are used to process object information, complete the identification and positioning of the target. The effect of the method is verified by the robotic gripping experiment. The result shows that the multi-modal information of two-dimensional image and point cloud image can be used to identify and locate different target objects. Compared with the processing method using only two-dimensional or point cloud single-mode image information, the positioning error can be reduced to 50%, the robustness and accuracy are better.