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Open AccessArticle

RGB-D Image Processing Algorithm for Target Recognition and Pose Estimation of Visual Servo System

School of Mechanical and Automotive Engineering, South China University of Technology; Guangzhou 510641, China
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Sensors 2020, 20(2), 430; https://doi.org/10.3390/s20020430
Received: 27 November 2019 / Revised: 1 January 2020 / Accepted: 10 January 2020 / Published: 12 January 2020
(This article belongs to the Special Issue Color & Spectral Sensors)
This paper studies the control performance of visual servoing system under the planar camera and RGB-D cameras, the contribution of this paper is through rapid identification of target RGB-D images and precise measurement of depth direction to strengthen the performance indicators of visual servoing system such as real time and accuracy, etc. Firstly, color images acquired by the RGB-D camera are segmented based on optimized normalized cuts. Next, the gray scale is restored according to the histogram feature of the target image. Then, the obtained 2D graphics depth information and the enhanced gray image information are distort merged to complete the target pose estimation based on the Hausdorff distance, and the current image pose is matched with the target image pose. The end angle and the speed of the robot are calculated to complete a control cycle and the process is iterated until the servo task is completed. Finally, the performance index of this control system based on proposed algorithm is tested about accuracy, real-time under position-based visual servoing system. The results demonstrate and validate that the RGB-D image processing algorithm proposed in this paper has the performance in the above aspects of the visual servoing system. View Full-Text
Keywords: RGB-D sensor; visual servoing; target recognition; depth measurement; pose estimation RGB-D sensor; visual servoing; target recognition; depth measurement; pose estimation
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Li, S.; Li, D.; Zhang, C.; Wan, J.; Xie, M. RGB-D Image Processing Algorithm for Target Recognition and Pose Estimation of Visual Servo System. Sensors 2020, 20, 430.

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