多特征提取的双目机器人目标跟踪

Person following of binocular robot by extracting multiple features

为了解决复杂环境下双目机器人的目标跟踪问题,提出多特征提取的方法.在机器人静止-目标运动模式下根据改进的步态光流图和视角识别目标并构造颜色直方图模板;在机器人运动-目标运动模式下利用扩展卡尔曼滤波器、基于自适应核函数的CamShift算法、基于Hu矩的头肩模型匹配算法提取目标的运动特征、颜色特征和头肩特征以实现目标跟踪.实验分析表明,所提出方法能够避免启动时手动框选目标,可以实现遮挡和背景与目标相似度高等复杂环境下的目标跟踪.

To solve the person following problem of binocular robot in complex environment, a method of extracting multi- feature is presented. For the stationary robot and moving target, the improved gait flow image and view are adopted to recognize the target, and then the color template is constructed. For both the moving robot and target, the motion information of the head and shoulder model and the color feature extracted by extended Kalman filter（EKF）, the Hu moment based head and shoulder model matching method and the adaptive kernel based CamShift algorithm are used to track the target. The experiments show that this method avoids selecting the person manually, and tracks the person effectively in complex environment, such as backgroud and target high similarity, occlusion and so on.