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.007a" src="https://static-preview.hindawi.com/articles/jcse/volume-2014/315396/figures/315396.fig.007a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Desired image</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="315396.fig.007b" src="https://static-preview.hindawi.com/articles/jcse/volume-2014/315396/figures/315396.fig.007b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Initial image</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="315396.fig.007c" src="https://static-preview.hindawi.com/articles/jcse/volume-2014/315396/figures/315396.fig.007c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Desired binary image</td></tr></table></td></tr><tr class="fig-image" id="d"><td><img alt="315396.fig.007d" src="https://static-preview.hindawi.com/articles/jcse/volume-2014/315396/figures/315396.fig.007d.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(d) </b>Initial binary image</td></tr></table></td></tr></table>

<table>Images of the target for the desired/initial camera position and object mark recognition using Gaussian model and Hough transformation.</table>

Journal of Control Science and Engineering

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Figure 7

Figure 7: Research on Visual Servo Grasping of Household Objects for Nonholonomic Mobile Manipulator 