Biologically Inspired Optimization Methods for Image Registration in Visual Servoing of a Mobile Robot

Abstract

Image registration (IR) represents image processing technique that is suitable for use in Visual Servoing (VS). This paper proposes the use of Biologically Inspired Optimization (BIO) methods for IR in VS of nonholonomic mobile robot. The comparison study of three different BIO methods is conducted, namely Genetic Algorithm (GA), Particle Swarm Optimization (PSO), and Grey Wolf Optimizer (GWO). The aforementioned optimization algorithms utilized for IR are tested on 24 images of manufacturing entities acquired by mobile robot stereo vision system. The considered algorithms are implemented in the MATLAB environment. The experimental results suggest satisfactory geometrical alignment after IR, whilst GA and PSO outperform GWO