[1]ZHANG Xuehua,LIU Huaping,SUN Fuchun,et al.Target tracking of mobile robot using Kinect[J].CAAI Transactions on Intelligent Systems,2014,9(1):34-39.[doi:10.3969/j.issn.1673-4785.201305080]
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Target tracking of mobile robot using Kinect

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 9 Number of periods: 2014 1 Page number: 34-39 Column: 学术论文—智能系统 Public date: 2014-02-25
Title:
Target tracking of mobile robot using Kinect
Author(s):
ZHANG Xuehua1; 2;  LIU Huaping2;  SUN Fuchun2;  GAO Meng1;  HE Chao2
1. College of Electrical and Electronic Engineering, Shijiazhuang Railway University, Shijiazhuang 050043, China;
2. Key Laboratory of Intelligent Technology and Systems, Tsinghua University, Beijing 100084, China
Keywords:
Kinect; particle filter algorithm; mobile robot; depth information; color infumation
CLC:
TP242
DOI:
10.3969/j.issn.1673-4785.201305080
Abstract:
The target tracking method based on color features is susceptible to the effects of similar color objects, which leads to the loss of the target. In order to overcome this phenomenon, in this paper, the Kinect vision sensor is used to obtain the target depth information and color information to calculate the weights of particles in the target tracking algorithm, and therefore to improve the particle filter algorithm which is based on the color feature. In order to simplify the histogram calculation of the target tracking algorithm, an incremental histogram calculation method is proposed to improve the computational speed of the target tracking process. Finally, through experimentation, the combination of color and depth information of the target can be shown to easily overcome the interference to the target tracking process by similar color objects, and the improved target tracking algorithm is applied to the mobile robot, verifying the rapidness and robustness of the mobile robot target tracking algorithm.
References:
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