一种基于距离加权的机器人运动目标跟踪方法

Moving Object Tracking Method Based on the Weighted Distance for Mobile Robot

针对单目视觉下移动机器人运动目标跟踪任务,提出了一种基于空间映射的背景补偿方法,通过读取机器人的实时运动状态来计算图像空间的背景补偿量,具有较高的精度和较快的响应速度。在此基础上,利用距离函数加权的方法,提出了综合视觉伺服与局部距离传感器混合导航的跟踪方法。通过实验,该方法能够满足跟踪任务要求,具有较好的跟踪效果。

In allusion to monocular vision for moving target tracking in mobile robotics tasks, we propose a compensation method based on space mapping of the moving background. We can calculate the background compensation amount in image space by reading the motion state of mobile robot in real time, which has higher accuracy and faster response. Based on this, by using the weighted distance function, we propose a hybrid tracking method which is composited by visual servo and distance navigation. Experimental results showed that this method can meet the needs of tracking tasks, and has batter better tracking results.