利用计算机视觉检测Tangled物体中的缠结
Use of Computer Vision to Detect Tangles in Tangled Objects
摘要：
通过自主机器人解开绳索和电线等结构可以在个人机器人，工业和电线等领域有用。将计算机视觉系统应用于机器人可以解决这一问题。本文提出了一种基于计算机视觉的方法，用于分析从摄像机获取的视觉数据，以感知电线、绳索、软管的重叠，即检测缠结。在根据所提出的方法处理图像之后获得的信息包括缠结对象中的缠结的位置以及哪根线经过哪根线。然后，该信息可以用于引导机器人解开线。给定图像，进行预处理以去除噪声。然后检测导线的边缘。之后，图像被分成更小的块，并且每个块被检查导线重叠并找到其他相关信息。介绍了TANGLED-100数据集，该数据集由缠结的线性可变形物体的图像组成。本文讨论的方法在TANGLED-100数据集上进行了测试。在实验过程中实现的准确度被认为是74.9%。机器人仿真进行了演示所提出的方法在机器人的应用。所提出的方法是一种通用的方法，可用于机器人在不同的情况下工作。
英文摘要：
Untangling of structures like ropes and wires by autonomous robots can be useful in areas such as personal robotics, industries and electrical wiring & repairing by robots. This problem can be tackled by using computer vision system in robot. This paper proposes a computer vision based method for analyzing visual data acquired from camera for perceiving the overlap of wires, ropes, hoses i.e. detecting tangles. Information obtained after processing image according to the proposed method comprises of position of tangles in tangled object and which wire passes over which wire. This information can then be used to guide robot to untangle wire/s. Given an image, preprocessing is done to remove noise. Then edges of wire are detected. After that, the image is divided into smaller blocks and each block is checked for wire overlap/s and finding other relevant information. TANGLED-100 dataset was introduced, which consists of images of tangled linear deformable objects. Method discussed in here was tested on the TANGLED-100 dataset. Accuracy achieved during experiments was found to be 74.9%. Robotic simulations were carried out to demonstrate the use of the proposed method in applications of robot. Proposed method is a general method that can be used by robots working in different situations.
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