Recognition and Locating of The Object Based on Vision for Mobile Robot

摘要

In this paper, we presented a method which is simple and effective, to realize the initial welding positionrnguiding task with long distance of mobile robot. After image-processing and calculating the coordinate of thernmass center and orientation point of the object in image, locking of the marking is achieved. And by means ofrnkinematic modeling, we built the relationship between image and real working space, then the real position andrnorientation of the object are obtained.