摘要
使用Camshift算法进行老人陪护机器人的人脸跟踪,并针对家居室内环境和人脸跟踪的非线性非高斯的特点,引入粒子滤波的方法进行运动预测估计,对己有颜色特征提取算法进行改进,从而提高了跟踪的准确性和抗干扰能力。最后,在家庭室内环境下的实验验证了该视觉跟踪控制方法的实时性和有效性,为老人陪护机器人的交互提供了一种参考方案。
A real--time face tracking method for the elderly companion robot was presented based on the Camshift algorithm and particle filter algorithm. Camshift algorithm was applied to find the peak of probability distributions and to estimate the center and size of the tracking window. According to the complexity of the house environment and the features of face tracking＇s non--Gaussian non-- linear, the particle filter was used to estimate the movement tendency and to improve the accuracy and the ability of anti--interference. Experimental results show that the proposed method can track face robustly in the indoor environment, which illustrates the real time and efficiency.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2009年第16期1904-1908,共5页
China Mechanical Engineering
基金
国家863高技术研究发展计划资助项目(2007AA041701
2007AA041702)
