A new object search and recognition method based on artificial object mark in complex indoor environment

摘要

A complete program of object search and recognition is proposed in the paper in order to realize the object recognition in the complex indoor environment. We design a kind of new object mark to assist object recognition. The mark is composed of two parts: the inner information representation and the outer logo. The inner information including attribute information and operating information is stored in QR Code. The outer logo includes two concentric colored circles and four orientation regions. The concentric red circles are used to locate the mark from a little far distance, and the orientation religions are helpful to assist robot to operate the target properly. The mark can only be recognized in a close distance, so the RFID technology is used to locate the object in a large scale. The large furniture is tagged with reference tag, and the target is pasted with target tag. When the robot moves around the space, he can read the tags one by one, and can obtain the rough position of target from the time sequence of tags. The object search and recognition scheme proposed in the paper can improve the accuracy rate of object recognition, reduce the impact of light, and have a high recognition rate even the target is occluded partly. The experiments demonstrate the effectiveness and feasibility of the scheme.