Application of metaheuristic optimization algorithms for image registration in mobile robot visual control
Apstrakt
Visual Servoing (VS) of a mobile robot requires advanced digital image processing, and one of the techniques especially fitting for this complex task is Image Registration (IR). In general, IR involves the geometrical alignment of images, and it can be viewed as an optimization problem. Therefore, we propose Metaheuristic Optimization Algorithms (MOA) for IR in VS of a mobile robot. The comprehensive comparison study of three state-of-the-art MOA, namely the Slime Mould Algorithm (SMA), Harris Hawks Optimizer (HHO), and Whale Optimization Algorithm (WOA) is presented. The previously mentioned MOA used for IR are evaluated on 12 pairs of stereo images obtained by a mobile robot stereo vision system in a laboratory model of a manufacturing environment. The MATLAB software package is used for the implementation of the considered optimization algorithms. Acquired experimental results show that SMA outperforms HHO and WOA, while all three algorithms perform satisfactory alignment of images ...captured from various mobile robot poses.
Ključne reči:
Whale optimization algorithm / Visual Servoing / Slime mould algorithm / mobile robot / image registration / Harris hawks optimizerIzvor:
Serbian Journal of Electrical Engineering, 2021, 18, 2, 155-170Izdavač:
- Univerzitet u Kragujevcu - Fakultet tehničkih nauka, Čačak
Finansiranje / projekti:
- Ministarstvo nauke, tehnološkog razvoja i inovacija Republike Srbije, institucionalno finansiranje - 200105 (Univerzitet u Beogradu, Mašinski fakultet) (RS-MESTD-inst-2020-200105)
- MISSION4.0 - Deep Machine Learning and Swarm Intelligence-Based Optimization Algorithms for Control and Scheduling of Cyber-Physical Systems in Industry 4.0 (RS-ScienceFundRS-AI-6523109)
Kolekcije
Institucija/grupa
Mašinski fakultetTY - JOUR AU - Đokić, Lazar AU - Jokić, Aleksandar AU - Petrović, Milica AU - Slavković, Nikola AU - Miljković, Zoran PY - 2021 UR - https://machinery.mas.bg.ac.rs/handle/123456789/3663 AB - Visual Servoing (VS) of a mobile robot requires advanced digital image processing, and one of the techniques especially fitting for this complex task is Image Registration (IR). In general, IR involves the geometrical alignment of images, and it can be viewed as an optimization problem. Therefore, we propose Metaheuristic Optimization Algorithms (MOA) for IR in VS of a mobile robot. The comprehensive comparison study of three state-of-the-art MOA, namely the Slime Mould Algorithm (SMA), Harris Hawks Optimizer (HHO), and Whale Optimization Algorithm (WOA) is presented. The previously mentioned MOA used for IR are evaluated on 12 pairs of stereo images obtained by a mobile robot stereo vision system in a laboratory model of a manufacturing environment. The MATLAB software package is used for the implementation of the considered optimization algorithms. Acquired experimental results show that SMA outperforms HHO and WOA, while all three algorithms perform satisfactory alignment of images captured from various mobile robot poses. PB - Univerzitet u Kragujevcu - Fakultet tehničkih nauka, Čačak T2 - Serbian Journal of Electrical Engineering T1 - Application of metaheuristic optimization algorithms for image registration in mobile robot visual control EP - 170 IS - 2 SP - 155 VL - 18 DO - 10.2298/SJEE2102155D ER -
@article{ author = "Đokić, Lazar and Jokić, Aleksandar and Petrović, Milica and Slavković, Nikola and Miljković, Zoran", year = "2021", abstract = "Visual Servoing (VS) of a mobile robot requires advanced digital image processing, and one of the techniques especially fitting for this complex task is Image Registration (IR). In general, IR involves the geometrical alignment of images, and it can be viewed as an optimization problem. Therefore, we propose Metaheuristic Optimization Algorithms (MOA) for IR in VS of a mobile robot. The comprehensive comparison study of three state-of-the-art MOA, namely the Slime Mould Algorithm (SMA), Harris Hawks Optimizer (HHO), and Whale Optimization Algorithm (WOA) is presented. The previously mentioned MOA used for IR are evaluated on 12 pairs of stereo images obtained by a mobile robot stereo vision system in a laboratory model of a manufacturing environment. The MATLAB software package is used for the implementation of the considered optimization algorithms. Acquired experimental results show that SMA outperforms HHO and WOA, while all three algorithms perform satisfactory alignment of images captured from various mobile robot poses.", publisher = "Univerzitet u Kragujevcu - Fakultet tehničkih nauka, Čačak", journal = "Serbian Journal of Electrical Engineering", title = "Application of metaheuristic optimization algorithms for image registration in mobile robot visual control", pages = "170-155", number = "2", volume = "18", doi = "10.2298/SJEE2102155D" }
Đokić, L., Jokić, A., Petrović, M., Slavković, N.,& Miljković, Z.. (2021). Application of metaheuristic optimization algorithms for image registration in mobile robot visual control. in Serbian Journal of Electrical Engineering Univerzitet u Kragujevcu - Fakultet tehničkih nauka, Čačak., 18(2), 155-170. https://doi.org/10.2298/SJEE2102155D
Đokić L, Jokić A, Petrović M, Slavković N, Miljković Z. Application of metaheuristic optimization algorithms for image registration in mobile robot visual control. in Serbian Journal of Electrical Engineering. 2021;18(2):155-170. doi:10.2298/SJEE2102155D .
Đokić, Lazar, Jokić, Aleksandar, Petrović, Milica, Slavković, Nikola, Miljković, Zoran, "Application of metaheuristic optimization algorithms for image registration in mobile robot visual control" in Serbian Journal of Electrical Engineering, 18, no. 2 (2021):155-170, https://doi.org/10.2298/SJEE2102155D . .