Monocular vision based autonomous indoor mobile service robot

Abstract

A low cost vision guided robot was developed to perform indoor service operations. The robot uses a webcam to localize and track the object of interest and a SONAR is used in conjunction with the camera to estimate distance between the robot and the object. A 3 DOF robotic arm is mounted on the robot to manipulate the objects within its workspace. The robot is capable of operating at different lighting conditions. A Visual feedback loop is established between the object and the robot for continuous tracking. Path planning of the robot is done based on the mean of the object location from 5 frames to obtain smooth maneuver.