Object detection on robot operation system

Abstract

Object detection is a hot spot of the research in computer vision since many applications require the determination of the object location. There are many object detection methods based on feature matching methods. In this paper, we locate object on robot operation system. The SIFT keypoints of the template and test images are extracted at first. Then, the matching method is proposed to find the template image which is closest to the test image. The matching method is applied on the closest template image and the test images. Finally, we use affine transformation to get the rectangle represents the location of the object. Our system is a robot arm based on robot operation system(ROS). This robot arm consists of six degrees of freedom. In the experiment, we represent a result of object result using the images obtained form the camera installed on the robot arm. Our system is helpful to locate object on robot operation system.