Teaching a robot to operate a lift

—This paper discusses a vision problem for the detection of lift operation panel which is a plane subject to deformation due to viewing angle change. The key problem in this project is the large scale change where the panel detection has to start at a significant distance away, and end up with the camera very near to the panel button. The process has three steps: (1) hunting for the panel using a coarse searching algorithm; (2) guiding the robot arm towards the panel; at close range, a model based matching algorithm is applied to verify (or identify) the panel; (3) after verification, tracking the button to guide the robot towards it. Two algorithms were used and it is shown that the weak perspective model outperforms the affine model. Keywords—lift panel detection, control points, motion stereo, affine transformation, weak perspective projection.

• Type: Conference
• Year: 2008
• Where: ICARCV
• Authors: Han Wang, Y. Ying, V. P. Dinh, B. Y. Xie, Danwei Wang, Wijerupage Sardha Wijesoma, Martin David Adams
• Keywords: ICARCV 2008, Lift Operation Panel, Panel Detection, Robotics, Weak Perspective