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[1]王杰,蒋明敏,花晓慧,等.基于投影直方图匹配的双目视觉跟踪算法[J].智能系统学报编辑部,2015,10(5):775-782.[doi:10.11992/tis.201410009]
　WANG Jie,JIANG Mingmin,HUA Xiaohui,et al.Binocular object tracking method using projection histogram matching[J].CAAI Transactions on Intelligent Systems,2015,10(5):775-782.[doi:10.11992/tis.201410009]

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基于投影直方图匹配的双目视觉跟踪算法

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《智能系统学报》编辑部[ISSN 1673-4785/CN 23-1538/TP] 卷: 10 期数: 2015年第5期页码: 775-782 栏目: 学术论文—机器感知与模式识别出版日期: 2015-10-25

Title:: Binocular object tracking method using projection histogram matching

作者:: 王杰^1,2, 蒋明敏¹, 花晓慧^3,4, 鲁守银^3,5, 李金屏^1,2; 1. 济南大学信息科学与工程学院, 山东济南 250022;
2. 济南大学山东省网络环境智能计算技术重点实验室, 山东济南 250022;
3. 山东建筑大学信息与电气工程学院, 山东济南 250101;
4. 山东建筑大学山东省智能建筑重点实验室, 山东济南 250101;
5. 山东省电力科学研究院, 山东济南 250002

Author(s):: WANG Jie^1,2, JIANG Mingmin¹, HUA Xiaohui^3,4, LU Shouyin^3,5, LI Jinping^1,2; 1. School of Information Science and Engineering, University of Jinan, Jinan 250022, China;
2. Shandong Provincial Key Laboratory of Network Based Intelligent Computing, University of Jinan, Jinan 250022, China;
3. School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan 250101, China;
4. Shandong Province Key Laboratory of Intelligent Building, Shandong Jianzhu University, Jinan 250101, China;
5. Shandong Electric Power Research Institute, Jinan 250002, China

关键词:: 投影直方图; 目标跟踪; 双目视觉; 极线几何; 模板匹配

Keywords:: projection histogram; object tracking; binocular vision; epipolar geometry; template matching

分类号:: TP391

DOI:: 10.11992/tis.201410009

文献标志码:: A

摘要:: 为了在机器人机械手双目视觉伺服系统中跟踪并精确定位目标的空间位置,提出了一种利用投影直方图匹配和极线几何约束的目标跟踪方法。分别在2个视觉中人工标定目标,并提取目标在多颜色空间的水平、垂直投影直方图作为匹配模板;在一个视觉中利用目标的运动一致性原则和投影直方图匹配搜索并跟踪目标;在另一个视觉中依据双目视觉系统的极线几何原理限定目标搜索范围,搜索并定位目标。该方法利用水平、垂直投影直方图描述目标的结构信息,同时完成了双目视觉系统中的目标跟踪与配准功能,有利于目标的精确定位和视觉测量。实验结果表明,该方法可在双目视觉系统中有效跟踪目标,运算效率高,鲁棒性强。

Abstract:: An effective object location and tracking method is proposed for a robot manipulator’s binocular visual servo system by utilizing projection histogram matching and the epipolar geometric constraint. The object is selected manually in the two vision systems, then the horizontal and vertical projection histograms, in multiple color spaces of the selected object, are extracted as matching templates for these two vision systems. The object in one vision system can be tracked by making use of the principle of moving continuity and the matching templates of the projection histograms in multiple color spaces. In the other vision system, the object is located roughly based on epipolar geometric constraint, and then it can be tracked accurately using the same method which is used in the first vision. The proposed method describes the object’s structural information by using horizontal and vertical projection histograms, and realizes the function of object tracking and registration in the binocular visual system, which is helpful in the precise location and visual measurement of the tracked object. The experiment results indicate that this method can realize the binocular object tracking with high efficiency and strong robustness.

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备注/Memo

收稿日期:2014-10-08;改回日期:。
基金项目:国家“863”计划资助项目(2012AA041506);山东省高等学校科研计划资助项目(J12LN19);山东省科技发展计划资助项目(2013YD01043);济南大学校基金重点项目资助(XKY1202).
作者简介:王杰,男,1989年生,硕士研究生,主要研究方向为图像处理与模式识别;蒋明敏,男,1993年生,硕士研究生,主要研究方向为图像处理、机器学习;花晓慧,女,1988年生,硕士研究生,主要研究方向为复杂系统建模、控制与仿真。
通讯作者:李金屏.E-mail:ise_lijp@ujn.edu.cn.

更新日期/Last Update: 2015-11-16

基于投影直方图匹配的双目视觉跟踪算法 PDF下载HTML

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基于投影直方图匹配的双目视觉跟踪算法

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