CIE L^* a^* b^* Renk Uzayı Kullanan Mobil Robotun Nesne Algılama ve Takibi Üzerine Bir Çalışma

Otonom araçlar günlük yaşamda ve endüstriyel uygulamalarda giderek daha fazla kullanılmaktadır. Mobil robot teknolojileri bu alanlarda otonom mimarilere öncülük etmektedir. Mobil robotların yol planlama yöntemleri, gerçekleştirdikleri amaca yönelik farklılıklar içermektedir. Belirlenen bir başlangıç noktasından hedef noktaya kadar olan bu yörünge planlaması temelde görüntü işlemeden yapay zekaya kadar birçok tekniği beraberinde getirmektedir. Çalışmada, farklı çap ve renklerde dairesel nesnelerin mobil bir robot tarafından takibi konusunda özgün tasarımlı bir uygulama gerçekleştirilmiştir. ROS sunucu-istemci mimarisi kullanılarak RGB-D kamera ile CIE L^* a^* b^* renk uzayı ile hareketli nesne algılanır. Mobil robot, algılanan nesneyi belirli bir mesafede sabit bir hızla takip eder. Görüntü filtreleme parametreleri, yayıncı abone parametreleri ile Matlab ortamında mobil robot tarafından işlenir. Böylece görüntü işleme sonucunda algılanan ve önceden belirlenen farklı renklerde iki dairesel nesne, mobil robot tarafından belirli bir hızda sürekli olarak takip edilmektedir. CIE L^* a^* b^* renk uzayına bağlı olarak görüntüde farklı çap, boyut toleransı ve renk parametreleri kullanılarak deneyler yapılmıştır.

Anahtar Kelimeler:

ROS, Görüntü İşleme, Nesne Takibi, Mobil Robot, Hareketli Nesne Algılama, Image Processing, Object Tracking, Mobile Robot, Moving Object Detection

A Study on Object Detection and Tracking of a Mobile Robot Using CIE L^* a^* b^* Color Space

Autonomous vehicles are increasingly used in daily life and industrial applications. Mobile robot technologies lead to autonomous architectures in these areas. The path planning methods of mobile robots contain differences in the purpose they realize. This trajectory planning from a determined starting point to the target point brings many techniques from image processing to artificial intelligence. In the study, an application with a unique design has been carried out on the tracking of circular objects with different diameters and colors by a mobile robot. Moving object is detected with CIE L^* a^* b^* color space with RGB-D camera by utilizing the ROS server-client architecture. The mobile robot tracks the detected object at a certain distance at a constant speed. Image filtering parameters are processed by the mobile robot in the Matlab environment together with the publisher-subscriber parameters. Thus, two circular objects with different colors, detected because of image processing and determined beforehand, are continuously followed by the mobile robot at a certain speed. Experiments were carried out using different diameter, size tolerance and color parameters in the image depending on the CIE L^* a^* b^* color space.

Keywords:

Image Processing, Object Tracking, Mobile Robot, Moving Object Detection,

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