A Capsule Robot Attitude Transformation Perception Method based on Intestinal Fold Features
International Journal of Science and Research (IJSR)

International Journal of Science and Research (IJSR)
www.ijsr.net | Open Access | Fully Refereed | Peer Reviewed International Journal

ISSN: 2319-7064

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Research Paper | Computer Science & Engineering | China | Volume 10 Issue 1, January 2021

A Capsule Robot Attitude Transformation Perception Method based on Intestinal Fold Features

Chengcheng Yan, Yanping Hu

As the world medical level of ascension, the traditional endoscopy has can't satisfy people's needs, using tiny robots enter human body bowel check is becoming a new way of examination. Active robot has become a research hotspot due to its controllable attitude. In this paper, an attitude localization method based on the features of intestinal folds is proposed, and the contour of intestinal tract is obtained by light compensation and adaptive threshold segmentation. The contour HU moment is used for coarse matching, and the shape context is used for fine matching to obtain the matching relationship of contour point pairs. The constraint equation is constructed from the contour centroid and the minimum enclose rectangular centroid angle to limit the search range of point pairs. Finally, the attitude transformation matrix of the robot is solved by using the optimal matching relation and multi-view geometric constraints.

Keywords: Fold characteristics, HU moment, Shape context, Attitude recognition, Active robot

Edition: Volume 10 Issue 1, January 2021

Pages: 1165 - 1168

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Chengcheng Yan, Yanping Hu, "A Capsule Robot Attitude Transformation Perception Method based on Intestinal Fold Features", International Journal of Science and Research (IJSR), https://www.ijsr.net/search_index_results_paperid.php?id=SR21121141514, Volume 10 Issue 1, January 2021, 1165 - 1168

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