摘要
机器人视觉系统利用颜色、形状等信息来识别环境目标 ,但是难点在于识别的鲁棒性和实时性的保证 .本文采用全自主移动机器人为平台 ,提出了一种硬件成本低廉的、基于颜色学习的实时多目标视觉跟踪系统 ,并提出了一种新颖的目标颜色学习和跟踪算法 .该视觉系统已成功集成在自主移动机器人系统中 。
Color provides powerful information for object recognition. But it's difficult for robot vision system to recognize targets quickly and robustly using such information. To solve this problem, this paper describes a color training robot vision system capable of real time tracking multi objects quickly by very low cost commodity hardware and presents a novel but easy color training and object tracking algorithm. The vision system has been successfully integrated with our autonomous robot system and shown its quickness and robustness in dynamic object tracking experiments in non structured environments.
出处
《机器人》
EI
CSCD
北大核心
2003年第1期10-14,17,共6页
Robot
基金
国家 8 63计划 (2 0 0 1AA42 2 14 0
2 0 0 1AA42 2 2 0 0 )
国家自然科学基金 (60 10 5 0 0 5 )资助项目
