A Real Time Object Tracking Approach for Mobile Robot Visual Servo Control

	A Real Time Object Tracking Approach for Mobile Robot Visual Servo Control
	Zhaoxiang Zhang; Ruhan Sa; Yunhong Wang
	2011-11-28
会议日期	28th November 2011
会议地点	Beijing, China
关键词	Robustness Image Color Analysis Robots Target Tracking Cameras Clutter
英文摘要	A key problem of Image Based Visual Servo (IBVS) System is to track objects in image sequences. Thus, the tracking algorithm plays an important role in improving the efficiency of IBVS systems. In this paper, a novel tracking algorithm called Modified CamShift Guided Particle Filter (MCAMSGPF) is proposed, which interpolated Speeded-Up Robust Features (SURF) into the framework of conventional CamShift Guided Particle Filter (CAMSGPF) tracking method. This new algorithm outperforms conventional CAMSGPF and other baseline trackers with respect to tracking robustness in the clutter background of similar colors and occlusions. We also proposed a new system model to implement and test the new algorithm in a real time moving IBVS system, which is applied in a mobile robot with an on-board camera.
会议录	ACPR 2011
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/13244]
专题	自动化研究所_类脑智能研究中心
通讯作者	Zhaoxiang Zhang
推荐引用方式 GB/T 7714	Zhaoxiang Zhang,Ruhan Sa,Yunhong Wang. A Real Time Object Tracking Approach for Mobile Robot Visual Servo Control[C]. 见:. Beijing, China. 28th November 2011.