A parallel algorithm for visual tracking of multiple free-swimming robot fishes based on color information

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	A parallel algorithm for visual tracking of multiple free-swimming robot fishes based on color information
	Yu, Junzhi; Wang, Shuo; Tan, Min
	2003
会议名称	Proc. IEEE International Conference on Robotics, Intelligent Systems and Signal Processing
会议日期	Oct. 8–13, 2003
会议地点	Changsha, Hunan, China
通讯作者	Yu, Junzhi
英文摘要	Obtaining information of both action of multiple free-swimming robot fishes and environment quickly and accurately from image sequence is the foundation of making decision and control in a MRFS (multiple robot fishes cooperation system). The real-time vision subsystem of MRFS and its tracking strategy for multi-target are introduced in this paper. Combining features of the robot fish and location background, an adaptive segmentation algorithm based on hue histogram and saturation histogram is proposed, which can adapt the changing environmental conditions. At the same time, integrating with computer parallel processing technology, the overall tracking algorithms are optimized by means of MMX and SSE instructions. The designed visual subsystem has been implemented in MRFS, and the results have shown its effectiveness by successfully tracking multiple free-swimming fishes and obstacles.
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/13078]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
作者单位	Lab. of Complex Syst./Intell. Sci., Institute of Automation, Chinese Academy Sciences, P. O. Box 2728, Beijing 100080, China
推荐引用方式 GB/T 7714	Yu, Junzhi,Wang, Shuo,Tan, Min. A parallel algorithm for visual tracking of multiple free-swimming robot fishes based on color information[C]. 见:Proc. IEEE International Conference on Robotics, Intelligent Systems and Signal Processing. Changsha, Hunan, China. Oct. 8–13, 2003.