[1]刘宏鼎,秦世引.双目轮式移动机器人的运动目标识别与跟踪[J].智能系统学报,2007,2(3):19-24.
LIU Hong-ding,QIN Shi-yin.Recognition and tracking of moving targets for binocular wheel moving robotst[J].CAAI Transactions on Intelligent Systems,2007,2(3):19-24.
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LIU Hong-ding,QIN Shi-yin.Recognition and tracking of moving targets for binocular wheel moving robotst[J].CAAI Transactions on Intelligent Systems,2007,2(3):19-24.
双目轮式移动机器人的运动目标识别与跟踪
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
2
期数:
2007年第3期
页码:
19-24
栏目:
学术论文—机器感知与模式识别
出版日期:
2007-06-25
- Title:
- Recognition and tracking of moving targets for binocular wheel moving robotst
- 文章编号:
- 16734785(2007)03001906
- 分类号:
- TP242.6
- 文献标志码:
- A
- 摘要:
- 研究在室内相对复杂背景下的运动目标识别与跟踪，采用Hu氏不变矩作为目标特征，通过环形方式搜索种子点进行目标区域生长，在有干扰的情况下检出目标，并估计相对位姿和控制本体机器人快速跟踪目标.用Intel的计算机视觉库OpenCV实现图像预处理、图像分割、孔洞填充、区域生长和特征提取.实验结果表明,系统能对运动目标进行实时稳定快速的跟踪，适用性强.
- Abstract:
- T his paper studies in depth recognition and tracking of moving targets by binocular mobile robots in relatively complex environments. To deal with noi se, Hu’s moment invariants were taken as object features and object region grow ing was carried out from the seed point which was searched by loop scanning. In this way objects could be detected and their relative positions estimated so as to effectively track moving targets and control the individual robots. This pape r made use of OpenCV to carry out image preprocessing, image segmentation, hole filling, region growing and feature extracting. Experimental results indicated t ha the system produces stable and fast tracking of moving targets in real time and is suitable for practical applications.
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备注/Memo
收稿日期：2007-09-04.
基金项目：
国家高技术研究发展计划资助项目(2006AA0 4Z207)；
教育部博士点基金资助项目(20060006018)
作者简介：
刘宏鼎，男，1982年生，硕士研究生，主要研究方向为图像目标识别与机器人视觉伺服跟踪 .E-mail：liuhongding@126.com.
秦世引，男，1955年生，博士，教授，博士生导师，中国人工智能学会秘书长，智能控制与智能管理专业委员会副主任，主持、参与完成国家重点基础研究(973)项目的子课题、国家自然科学基金、国防科技预研基金、武器装备预研基金等项目20余项，发表学术论文90 余篇.
更新日期/Last Update:
2009-05-06