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An IFCE-based effective color tracking system for a humanoid robot in cluttered environments
Mao, Xiaoqian; He, Huidong; Li W(李伟); Chen, Genshe
作者部门水下机器人研究室
会议名称2017 IEEE International Instrumentation and Measurement Technology Conference, I2MTC 2017
会议日期May 22-25, 2017
会议地点Torino, Italy
会议主办者IEEE ; IEEE Instrumentation and Measurement Society
会议录名称I2MTC 2017 - 2017 IEEE International Instrumentation and Measurement Technology Conference, Proceedings
出版者IEEE
出版地New York
2017
页码1875-1880
收录类别EI ; CPCI(ISTP)
EI收录号20173204028311
WOS记录号WOS:000431839600332
产权排序2
ISBN号9781509035960
关键词Moving Object Tracking Ifce Region Growing Central Vision Tracking Cluttered Environment
摘要

A variety of object tracking algorithms have been published in the field of image process, but most of them are easily influenced by illumination intensity and may not be reliable in cluttered environments. This paper proposes a novel color tracking system by extracting an object of interest with color similarities, which is based on an Improved Fuzzy Color Extractor (IFCE). The IFCE uses the angle between two vectors to distinguish the two pixels in RGB space coordinates. The length of a vector represents the illumination intensity of the pixel and the direction corresponds to the color. Thus, the illumination intensity and the color of a pixel are separated to adapt IFCE varying illumination conditions. Moreover, the strict color discrimination is accomplished by setting the fuzzy parameters. The central vision tracking strategy performs dynamic tracking processes. We use the NAO robot to validate the proposed system by tracking a moving person with several color tags. The results show that the IFCE-based color tracking system is robust in the cluttered environment with varying illumination intensity and the NAO robot tracks the person effectively.

语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20814
专题水下机器人研究室
通讯作者Li W(李伟)
作者单位1.School of Electrical Engineering and Automation, Tianjin University, Tianjin, China
2.Department of Computer and Electrical Engineering and Computer Science, California State University, Bakersfield, United States
3.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
4.Intelligent Fusion Technology Inc, Germantown, United States
推荐引用方式
GB/T 7714
Mao, Xiaoqian,He, Huidong,Li W,et al. An IFCE-based effective color tracking system for a humanoid robot in cluttered environments[C]//IEEE, IEEE Instrumentation and Measurement Society. New York:IEEE,2017:1875-1880.
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