An Intelligent Vision System on a Mobile Manipulator


Mechanical Engineering, Iran University of Science & Technology


This article will introduce a robust vision system which was implemented on a mobile manipulator. This robot has to find objects and deliver them to pre specified locations. In the first stage, a method which is named color adjacency method was employed. However, this method needs a large amount of memory and the process is very slow on computers with small memories. Therefore since the previous methods, had used statistical method for object detection, the samples for the connectionist were extracted by this method. The obtained neural network is very robust against light changes and can detect objects very quickly. This neural network has the advantage of being extremely simple to implement, and astonishingly quick in practice