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Evolutionary Program Based Approach for Manipulator Grasping Color Objects

Authors: Y. Harold Robinson, M. Rajaram, Honey Raju


Image segmentation and color identification is an important process used in various emerging fields like intelligent robotics. A method is proposed for the manipulator to grasp and place the color object into correct location. The existing methods such as PSO, has problems like accelerating the convergence speed and converging to a local minimum leading to sub optimal performance. To improve the performance, we are using watershed algorithm and for color identification, we are using EPSO. EPSO method is used to reduce the probability of being stuck in the local minimum. The proposed method offers the particles a more powerful global exploration capability. EPSO methods can determine the particles stuck in the local minimum and can also enhance learning speed as the particle movement will be faster.

Keywords: Image Segmentation, saturation, GMM, Color information, EPSO, hue, value (HSV), particle swarm optimization (PSO). Active Contour

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