QR Code在多种类物体识别与操作中的应用

提出了一种基于QR Code的多种类物体识别和操作方法.家庭环境下物体种类繁多，形状各种各样，颜色也不尽相同，使用传统的图像处理的方法很难将目标物从背景图像中准确地分割出来.针对不同物体设计相应的QR Code标签，将对物体的识别转化为对QR Code标签的识别，可以大大减小计算量，提高识别精度和速度；同时还能够将足够多的操作信息(如抓取力、抓取位置等)记录在QR Code中，方便机器人实现对物品的准确操作；QR Code标签的定位由训练的基于Haar-like特征的层叠推进分类器检测实时图像来实现，实验表明该方法可以快速识别出目标物，具有很好的适用性和鲁棒性.

Application of the QR Code for various object identificationand manipulation

There are many objects with different shapes and colors in the home environment.It is difficult to separate the target from the complicated background image using the traditional image processing method.The QR Code tag was designed for each object,so the identification process of the object was changed into the identification process of the QR Code.This method can reduce the calculation work,and improve the identification precision and speed.Manipulation information(such as grasp force,grasp pose,etc.) can be simultaneously recorded in the QR Code.The robot can know how to manipulate the target by decoding the QR Code.The QR Code detection and localization were realized by the trained cascade of boosted classifiers based on Haar-like features.Experiments show that the proposed method can recognize the target with high adaptability and robustness.