机器人一体机中运动目标跟踪研究

Research on Moving Target Tracking in Application-oriented Robot Integrated Machine Scheme

机器人一体机属于移动监控类机器人,在有限区域内,从不同角度实现运动目标的识别与跟踪、监控一体机的运动变化,以此来控制机器人的下一步行动;该系统允许操作员选取要跟踪的目标,实现从背景中检测出运动目标,并开始对运动目标进行实时跟踪;研究了静止背景和动态背景两种情形的实现方法,目的是在实际背景下能正确分割出运动目标,通过对运动目标平面运动的跟踪,根据坐标变化以及对坐标变化的姿态分析,得到正确识别结果,实现了对仿真机器人的基本运动控制,并以文本命令形式显示出来。

In the robot integrated machine scheme, the integrated machine belongs to Mobile and monitoring robot, in a limited area, it realizes recognition and tracking of moving objects from different angles, and monitors movement of the integrated machine, in order to control the robot＇s next action; The system allows the operator to select the desired target, realizes the detect of moving target from the background, and begins the real-time tracking of moving target; studied the realization of the static background and dynamic background, Its purpose is to correctly segment the moving targets at the actual background, through tracking the plane motion of the moving target, according to the coordinate changing and analysis of coordinate changing pose, gets the correct recognition result, realizes the basic motion control of simulation robot, and disnlavs results in text command form.