Research on Visual Servo Grasping of Household Objects for Nonholonomic Mobile Manipulator

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="315396.fig.009a" src="https://static.hindawi.com/articles/jcse/volume-2014/315396/figures/315396.fig.009a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Image corresponding to <svg height="12.0395pt" id="M329" style="vertical-align:-2.3616pt" version="1.1" viewbox="-0.0498162 -9.6779 15.0585 12.0395" width="15.0585pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M293 -169V-141C218 -131 209 -90 209 -44C209 19 222 85 222 152C222 207 198 255 139 269V273C199 286 222 334 222 388C222 454 209 523 209 588C209 632 218 671 293 681V709C234 709 148 695 148 577C147 513 155 438 155 372C155 337 152 291 64 285V256C152 250 155 204 155 169C156 105 148 31 148 -41C148 -157 234 -169 293 -169Z" id="g113-124"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="347" vert-adv-y="347"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,4.701,0)"><path d="M383 397C383 424 344 448 299 448C244 448 172 409 132 375C66 319 23 227 23 146C23 42 74 -12 146 -12C208 -12 298 30 359 103L343 124C315 95 248 48 192 48C145 48 111 85 111 163C111 228 129 294 151 330C171 363 201 401 241 401C275 401 302 384 325 356C332 347 339 344 348 348C373 360 383 381 383 397Z" id="g113-100"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="406" vert-adv-y="406"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,10.206,0)"><path d="M283 255V284C195 290 192 337 192 375C192 436 200 508 200 580C200 696 116 709 54 709V681C127 671 139 634 139 588C138 524 125 452 125 387C125 333 149 286 209 272V268C148 253 125 206 125 151C126 87 139 16 139 -47C139 -92 127 -131 54 -141V-169C115 -169 200 -152 200 -41C200 32 192 104 192 164C192 202 195 249 283 255Z" id="g113-126"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="347" vert-adv-y="347"></glyph.data></g></svg></td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="315396.fig.009b" src="https://static.hindawi.com/articles/jcse/volume-2014/315396/figures/315396.fig.009b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Image corresponding to <svg height="14.2779pt" id="M330" style="vertical-align:-2.3616pt" version="1.1" viewbox="-0.0498162 -11.9163 18.9931 14.2779" width="18.9931pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M293 -169V-141C218 -131 209 -90 209 -44C209 19 222 85 222 152C222 207 198 255 139 269V273C199 286 222 334 222 388C222 454 209 523 209 588C209 632 218 671 293 681V709C234 709 148 695 148 577C147 513 155 438 155 372C155 337 152 291 64 285V256C152 250 155 204 155 169C156 105 148 31 148 -41C148 -157 234 -169 293 -169Z" id="g113-124"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="347" vert-adv-y="347"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,4.701,0)"><path d="M383 397C383 424 344 448 299 448C244 448 172 409 132 375C66 319 23 227 23 146C23 42 74 -12 146 -12C208 -12 298 30 359 103L343 124C315 95 248 48 192 48C145 48 111 85 111 163C111 228 129 294 151 330C171 363 201 401 241 401C275 401 302 384 325 356C332 347 339 344 348 348C373 360 383 381 383 397Z" id="g113-100"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="406" vert-adv-y="406"></glyph.data></g><g transform="matrix(.0095,0,0,-0.0095,10.206,-5.984)"><path d="M310 541L304 571C290 586 211 619 185 610L80 76L131 52L310 541Z" id="g50-31"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="361" vert-adv-y="361"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,14.141,0)"><path d="M283 255V284C195 290 192 337 192 375C192 436 200 508 200 580C200 696 116 709 54 709V681C127 671 139 634 139 588C138 524 125 452 125 387C125 333 149 286 209 272V268C148 253 125 206 125 151C126 87 139 16 139 -47C139 -92 127 -131 54 -141V-169C115 -169 200 -152 200 -41C200 32 192 104 192 164C192 202 195 249 283 255Z" id="g113-126"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="347" vert-adv-y="347"></glyph.data></g></svg></td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="315396.fig.009c" src="https://static.hindawi.com/articles/jcse/volume-2014/315396/figures/315396.fig.009c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>The extracted corner correspondences matched by RANSAC</td></tr></table></td></tr></table>

<table>Two images of the object mark corresponding to <svg height="12.0395pt" id="M327" style="vertical-align:-2.3616pt" version="1.1" viewbox="-0.0498162 -9.6779 15.0585 12.0395" width="15.0585pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M293 -169V-141C218 -131 209 -90 209 -44C209 19 222 85 222 152C222 207 198 255 139 269V273C199 286 222 334 222 388C222 454 209 523 209 588C209 632 218 671 293 681V709C234 709 148 695 148 577C147 513 155 438 155 372C155 337 152 291 64 285V256C152 250 155 204 155 169C156 105 148 31 148 -41C148 -157 234 -169 293 -169Z" id="g113-124"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="347" vert-adv-y="347"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,4.701,0)"><path d="M383 397C383 424 344 448 299 448C244 448 172 409 132 375C66 319 23 227 23 146C23 42 74 -12 146 -12C208 -12 298 30 359 103L343 124C315 95 248 48 192 48C145 48 111 85 111 163C111 228 129 294 151 330C171 363 201 401 241 401C275 401 302 384 325 356C332 347 339 344 348 348C373 360 383 381 383 397Z" id="g113-100"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="406" vert-adv-y="406"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,10.206,0)"><path d="M283 255V284C195 290 192 337 192 375C192 436 200 508 200 580C200 696 116 709 54 709V681C127 671 139 634 139 588C138 524 125 452 125 387C125 333 149 286 209 272V268C148 253 125 206 125 151C126 87 139 16 139 -47C139 -92 127 -131 54 -141V-169C115 -169 200 -152 200 -41C200 32 192 104 192 164C192 202 195 249 283 255Z" id="g113-126"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="347" vert-adv-y="347"></glyph.data></g></svg> and <svg height="14.2779pt" id="M328" style="vertical-align:-2.3616pt" version="1.1" viewbox="-0.0498162 -11.9163 18.9931 14.2779" width="18.9931pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M293 -169V-141C218 -131 209 -90 209 -44C209 19 222 85 222 152C222 207 198 255 139 269V273C199 286 222 334 222 388C222 454 209 523 209 588C209 632 218 671 293 681V709C234 709 148 695 148 577C147 513 155 438 155 372C155 337 152 291 64 285V256C152 250 155 204 155 169C156 105 148 31 148 -41C148 -157 234 -169 293 -169Z" id="g113-124"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="347" vert-adv-y="347"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,4.701,0)"><path d="M383 397C383 424 344 448 299 448C244 448 172 409 132 375C66 319 23 227 23 146C23 42 74 -12 146 -12C208 -12 298 30 359 103L343 124C315 95 248 48 192 48C145 48 111 85 111 163C111 228 129 294 151 330C171 363 201 401 241 401C275 401 302 384 325 356C332 347 339 344 348 348C373 360 383 381 383 397Z" id="g113-100"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="406" vert-adv-y="406"></glyph.data></g><g transform="matrix(.0095,0,0,-0.0095,10.206,-5.984)"><path d="M310 541L304 571C290 586 211 619 185 610L80 76L131 52L310 541Z" id="g50-31"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="361" vert-adv-y="361"></glyph.data></g><g transform="matrix(.0135,0,0,-0.0135,14.141,0)"><path d="M283 255V284C195 290 192 337 192 375C192 436 200 508 200 580C200 696 116 709 54 709V681C127 671 139 634 139 588C138 524 125 452 125 387C125 333 149 286 209 272V268C148 253 125 206 125 151C126 87 139 16 139 -47C139 -92 127 -131 54 -141V-169C115 -169 200 -152 200 -41C200 32 192 104 192 164C192 202 195 249 283 255Z" id="g113-126"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="347" vert-adv-y="347"></glyph.data></g></svg>, together with the extracted corner correspondences.</table>

Journal of Control Science and Engineering

fig9

Figure 9

Figure 9: Research on Visual Servo Grasping of Household Objects for Nonholonomic Mobile Manipulator 