Application of metaheuristic optimization algorithms for image registration in mobile robot visual control
| Autor: | Milica Petrović, Lazar Djokic, Aleksandar Jokić, Nikola Slavkovic, Zoran Miljković |
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| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
Optimization problem
Computer Networks and Communications Computer science Energy Engineering and Power Technology Image registration Visual servoing Visual Servoing Visual control mobile robot Digital image processing slime mould algorithm Computer vision Whale optimization algorithm Slime mould algorithm Electrical and Electronic Engineering whale optimization algorithm MATLAB Harris hawks optimizer computer.programming_language visual servoing business.industry Mechanical Engineering Mobile robot TK1-9971 image registration Stereopsis Hardware and Architecture Control and Systems Engineering harris hawks optimizer Artificial intelligence Electrical engineering. Electronics. Nuclear engineering business computer |
| Zdroj: | Serbian Journal of Electrical Engineering, Vol 18, Iss 2, Pp 155-170 (2021) Serbian Journal of Electrical Engineering (2021) 18(2):155-170 |
| ISSN: | 2217-7183 1451-4869 |
| Popis: | Visual Servoing (VS) of a mobile robot requires advanced digital image processing, and one of the techniques especially fitting for this complex task is Image Registration (IR). In general, IR involves the geometrical alignment of images, and it can be viewed as an optimization problem. Therefore, we propose Metaheuristic Optimization Algorithms (MOA) for IR in VS of a mobile robot. The comprehensive comparison study of three state-of-the-art MOA, namely the Slime Mould Algorithm (SMA), Harris Hawks Optimizer (HHO), and Whale Optimization Algorithm (WOA) is presented. The previously mentioned MOA used for IR are evaluated on 12 pairs of stereo images obtained by a mobile robot stereo vision system in a laboratory model of a manufacturing environment. The MATLsoftware package is used for the implementation of the considered optimization algorithms. Acquired experimental results show that SMA outperforms HHO and WOA, while all three algorithms perform satisfactory alignment of images captured from various mobile robot poses. |
| Databáze: | OpenAIRE |
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