Object Segmentation by Spraying Robot Based on Multi-Layer Perceptron

Mingxiang Zhu, Guangming Zhang (), Lingxiu Zhang, Weisong Han, Zhihan Shi and Xiaodong Lv
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Mingxiang Zhu: College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing 211899, China
Guangming Zhang: College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing 211899, China
Lingxiu Zhang: College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing 211899, China
Weisong Han: College of Transportation Engineering, Nanjing Tech University, Nanjing 211899, China
Zhihan Shi: College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing 211899, China
Xiaodong Lv: College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing 211899, China

Energies, 2022, vol. 16, issue 1, 1-18

Abstract: The vision system provides an important way for construction robots to obtain the type and spatial location information of the object. The characteristics of the construction environment, construction object, and robot structure are jointly examined in this paper to propose an approach of object segmentation by spraying the robot based on multi-layer perceptron. Firstly, the hand-eye system experimental platform is built through establishing the mathematical model of the system and calibrating the parameters of the model. Secondly, effort is made to carry out research on image preprocessing algorithms and related experiments, and compare the effects of different binocular stereo-matching algorithms in the actual engineering environment. Finally, research and an experiment are conducted to identify the applicability and effect of the depth image object segmentation algorithm based on multi-layer perceptron. The experimental results prove that the application of multi-layer perceptron to object segmentation by spraying robots can meet the requirement on solution accuracy and is suitable for the object segmentation of complex projects in real life. This approach not only overcomes the shortcomings of the existing recognition methods that are poor in accuracy and difficult to be used widely, but also provides basic data for the subsequent three-dimensional reconstruction, thus making a significant contribution to the research of image processing by spraying robots.

Keywords: hand-eye calibration; stereo matching; object segmentation; multi-layer perceptron (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2022
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