| 一种改进的移动机器人视觉跟踪算法研究 |
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| 引用本文： | 李志成,谢娟,周先国.一种改进的移动机器人视觉跟踪算法研究[J].佳木斯大学学报,2009,27(2). |
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| 作者姓名： | 李志成 谢娟 周先国 |
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| 作者单位： | 李志成,LI Zhi-cheng(南京航空航天大学航天学院,江苏,南京,210016);谢娟,周先国,XIE Juan,ZHOU Xian-guo(南京航空航天大学自动化学院,江苏,南京,210016)
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| 摘 要： | 运动物体的实时跟踪是移动机器人视觉的关键技术之一.为了实现对目标快速有效的跟踪,本文提出了一种改进的移动机器人视觉跟踪算法,该算法在mean shift算法的基础上,利用颜色特征作为视觉跟踪依据,并且引入Kalman滤波进行迭代窗口的预测.实验仿真结果表明,本文算法一定程度上消除了光照条件的影响,而且很好的解决了当目标被遮挡时发生目标跟踪偏差或丢失的问题,具有实用价值.
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| 关 键 词： | 移动机器人 视觉跟踪 mean shift算法 Kalman滤波 |
Research on an Improved Algorithm for Visual Tracking on Mobile Robot |
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| LI Zhi-cheng,XIE Juan,ZHOU Xian-guo.Research on an Improved Algorithm for Visual Tracking on Mobile Robot[J].Journal of Jiamusi University(Natural Science Edition),2009,27(2). |
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| Authors: | LI Zhi-cheng XIE Juan ZHOU Xian-guo |
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| Affiliation: | 1.Department of Astronautics;Nanjing University of Aeronautics and Astronautics;Nanjing 210016;China;2.Department of Automation Engineering;China |
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| Abstract: | Tracking a target in real-time is one of the key visual techniques on mobile robot.In order to track a moving object fast and effectively,an improved algorithm is proposed in this paper.This new method uses color features as the basis for the target's tracking based on mean shift algorithm,and then combined with Kalman filter for iterative window forecast.Simulation results show that this new algorithm not only eliminates the impact of lighting conditions to some extent,but also is a good solution for track... |
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| Keywords: | mobile robot visual tracking mean shift algorithm Kalman filte |
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