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
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.
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13078
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Yu, Junzhi
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],2003.
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