摘要
移动机器人的视觉目标检测技术已被广泛应用于监控、安保、无人驾驶等场合。文中针对移动机器人目标检测面临的光照变化、复杂背景、遮挡、相机运动等问题,总结了国内外基于图像处理相关的方法,并介绍了常用的基于机器学习的移动机器人目标检测技术。通过对国内外应用于公共安检的移动机器人的性能比较,结合自主研发的HEBUT移动机器人,详细分析了移动机器人目标检测的主要技术及发展方向。
The visual target-detection technology for mobile robots has been widely used in such fields as monitoring,security,unmanned driving and so on.In this article,aiming at the problems of illumination change,complex background,occlusion and camera movement faced by the target-detection technology for mobile robots,the related methods based on the technology of image processing both at home and abroad are summarized,and the commonly-used target-detection technology based on machine learning is introduced.Based on the comparison of the performance of domestic and foreign mobile robots used in the field of public security and in combination with the self-developed HEBUT mobile robot,the main target-detection technology for mobile robots and its future prospect are explored in detail.
作者
高春艳
唐佳强
吕晓玲
张明路
GAO Chun-yan;TANG Jia-qiang;LYU Xiao-ling;ZHANG Ming-lu(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130)
出处
《机械设计》
CSCD
北大核心
2020年第6期58-64,共7页
Journal of Machine Design
基金
国家重点研发计划专项资助项目(2017YFC0806503)
河北省应用基础研究计划重点基础研究资助项目(17961820D)。
