Circle Object Recognition Based on Monocular Vision for Home Security Robot

In this paper, a circle object recognition method based on monocular vision for the home security robots is proposed. This vision system is able to process image and recognize a colored ball rapidly. The proposed method consists of two sub-modules, which are the object segmentation module and the circle detection module. In the object segmentation, the color feature is applied to find out the region of the object. After the region of the object is determined, a fast randomized circle detection (RCD) method is applied to check that there are enough radius points which all points in the same circle of region. Because of the double detection process, this system can improve the precision for detecting a colored ball. The proposed method is tested on a home security robot and can find out a red ball. The experimental results illustrate the effectiveness of the proposed method.