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Binocular Based Moving Target Tracking for Mobile Robot
Du YK(杜英魁); Fan BJ(范保杰); Han JD(韩建达); Tang YD(唐延东)
Conference Name2nd International Conference Intelligent Robotics and Applications
Conference DateDecember 16-18, 2009
Conference PlaceSingapore, SINGAPORE
Publication PlaceBERLIN
Indexed ByEI ; CPCI(ISTP)
EI Accession number20100712717374
WOS IDWOS:000279602600091
Contribution Rank1
KeywordMobile Robot Binocular Vision Target Tracking Motion Estimation
AbstractMoving target tracking is an important application of computer vision. A binocular based method is presented for mobile robot to track target reliably under the effect of occlusion, transform and rotation in unstructured environment. Point features are extracted for representing the target and environment background under middle distortion, and then are matched and tracked through consecutive stereo frames by our improved MNCC algorithm. The point features are reconstructed and utilized to estimate the relative motion by Least-Square algorithm. Because the relative motion between the point features of target and robot is inconsistent to that of environment background and robot, the point features of environment background and the errors in feature tracking are removed by RANSAC algorithm. Experiment results validate the efficiency of our method.
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Document Type会议论文
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang 110016, China
2.Graduate School, Chinese Academy of Science, Beijing 100039, China
Recommended Citation
GB/T 7714
Du YK,Fan BJ,Han JD,et al. Binocular Based Moving Target Tracking for Mobile Robot[C]. BERLIN:SPRINGER-VERLAG,2009:929-935.
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