CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
A parallel algorithm for visual tracking of multiple free-swimming robot fishes based on color information
Yu, Junzhi; Wang, Shuo; Tan, Min
2003
Conference NameProc. IEEE International Conference on Robotics, Intelligent Systems and Signal Processing
Conference DateOct. 8–13, 2003
Conference PlaceChangsha, Hunan, China
AbstractObtaining 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.
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13078
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorYu, Junzhi
AffiliationLab. of Complex Syst./Intell. Sci., Institute of Automation, Chinese Academy Sciences, P. O. Box 2728, Beijing 100080, China
Recommended Citation
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],2003.
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