Semantic segmentation based stereo visual servoing of nonholonomic mobile robot in intelligent manufacturing environment

作者：

Highlights：

• The novel semantic segmentation based visual servoing algorithm is proposed.

• The new 4 step algorithm for nonholonomic mobile robot control is developed.

• Fully convolutional neural networks are utilized for mobile robot visual servoing.

• The approach is validated by using both real mobile robot RAICO and 3D simulation.

摘要

•The novel semantic segmentation based visual servoing algorithm is proposed.•The new 4 step algorithm for nonholonomic mobile robot control is developed.•Fully convolutional neural networks are utilized for mobile robot visual servoing.•The approach is validated by using both real mobile robot RAICO and 3D simulation.

论文关键词：Visual servoing,Semantic segmentation,Nonholonomic mobile robot,Image registration,Stereo camera system,Intelligent manufacturing systems

论文评审过程：Received 18 October 2020, Revised 5 July 2021, Accepted 6 November 2021, Available online 15 November 2021, Version of Record 19 November 2021.

论文官网地址：https://doi.org/10.1016/j.eswa.2021.116203