Visual recognition of robot targets in complex state based on sub-pixel Harris corner

摘要

In the field of robotics, it is always a big challenge for the visual recognition and operation of target objects in complex state, such as target objects in dead corner and surrounded by other targets. In this paper, V-REP and MATLAB are used for joint simulation to conduct experiments on the robot scene. For the target object in a complex state, the RGBD camera is used to record the image and determine the target range, and introduce sub-pixel Harris corner detection to establish the grasping surface and center point coordinates, to make the robot under complex condition can more accurately for corresponding operation.