[1]张 波,刘冀伟,崔朝辉,等.双目视觉模型移动目标跟踪系统[J].智能系统学报,2010,5(05):400-404.[doi:10.3969/j.issn.1673-4785.2010.05.004]
 ZHANG Bo,LIU Ji-wei,CUI Zhao-hui,et al.Design and implementation of a binocular vision moving target tracking system[J].CAAI Transactions on Intelligent Systems,2010,5(05):400-404.[doi:10.3969/j.issn.1673-4785.2010.05.004]
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双目视觉模型移动目标跟踪系统(/HTML)
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第5卷
期数:
2010年05期
页码:
400-404
栏目:
学术论文—智能系统
出版日期:
2010-10-25

文章信息/Info

Title:
Design and implementation of a binocular vision moving target tracking system
文章编号:
1673-4785(2010)05-0400-05
作者:
张   波刘冀伟崔朝辉王志良
北京科技大学 信息工程学院,北京 100083
Author(s):
ZHANG Bo LIU Ji-wei CUI Zhao-hui WANG Zhi-liang
School of Information Engineering, University of Science and Technology Beijing, Beijing 100083, China
关键词:
智能机器人双目视觉模型移动目标跟踪PID控制
Keywords:
intelligent robot binocular visual mode moving target tracking PID control
分类号:
TP242.6
DOI:
10.3969/j.issn.1673-4785.2010.05.004
文献标志码:
A
摘要:
为了使机器人能够对目标进行自主智能的跟踪,基于仿生学原理建立双目视觉模型,设计出四自由度的仿人眼颈跟踪系统,通过上位机与下位机的配合以及2台摄像机与4台直流电机,实现双目视觉移动目标跟踪系统.该系统通过双目摄像机对目标进行图像采集,由PC机对目标进行特征提取以及一系列处理后计算出目标的移动范围,将目标移动数据传输至下位机后通过PID控制算法平滑控制直流电机的运转方向与运转速度,从而对移动目标实现良好的跟踪性能.
Abstract:
In order to allow robots to track a target autonomously and intelligently, a stereo vision model based on bionic principles was established, and a humanoid neck eye tracking system with four degrees of freedom was designed. Based on the above developments, a binocular vision moving target tracking system was produced by the upper and lower computers, as well as two cameras and four DC motors. This system captured images of the target through the binocular camera, and then the image processing and feature extraction was produced in a PC. Therefore, the target range of treatment could be calculated and sent to the lower computer, and the direction and running speed of the DC motors was smoothly controlled through a PID control algorithm, finally tracking a moving target well.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2009-12-13.
基金项目:国家“863”计划资助项目(2007AA01Z160);国家自然科学基金资助项目(60903067);北京市重点学科建设资助项目(XK100080537).
通信作者:张   波.E-mail:bournezhangustb@gmail.com.
作者简介:
张   波,男,1984年生,博士研究生,主要研究方向为无线传感器网络、嵌入式系统、图像处理与模式识别、机器视觉、物联网.
刘冀伟,男,1962 年生,副教授、博士,北京科技大学信息工程学院自动化系副主任, IEEE 会员,中国人工智能学会人工心理与情感计算专业委员会理事. 主要研究方向为图像处理、视频压缩、步态识别、运动跟踪、自动控制等.作为负责人与主要参与人员完成国家自然科学基金、国家“863”计划以及军工“863”计划多项,发表学术论文50 余篇,其中被SCI、EI 检索30 余篇.
崔朝辉,男,1983 年生,博士研究生,主要研究方向为图像压缩、图像分析、嵌入式系统.
王志良,男,1956 年生,国家二级教授、博士生导师、博士,享受国务院特殊津贴专家,北京科技大学电子信息系主任,中国人工智能学会人工心理与人工情感专业委员会主任,第一届国际情感计算和智能交互学术大会主席.主要研究方向为人工心理与情感计算、服务机器人与数字人技术、网络化的信息服务系统等.近年来主持完成国家“863”计划、国家自然科学基金、国家科技攻关和国家“973”计划子项目等多项科研项目.发表学术论文180余篇,其中被SCI、EI检索60余篇,出版专著5部.
更新日期/Last Update: 2010-11-26