Application of the QR Code for various object identificationand manipulation

Abstract

There are many objects with different shapes and colors in the home environment.It is difficult to separate the target from the complicated background image using the traditional image processing method.The QR Code tag was designed for each object,so the identification process of the object was changed into the identification process of the QR Code.This method can reduce the calculation work,and improve the identification precision and speed.Manipulation information(such as grasp force,grasp pose,etc.) can be simultaneously recorded in the QR Code.The robot can know how to manipulate the target by decoding the QR Code.The QR Code detection and localization were realized by the trained cascade of boosted classifiers based on Haar-like features.Experiments show that the proposed method can recognize the target with high adaptability and robustness.