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A Real Time Object Tracking Approach for Mobile Robot Visual Servo Control
Zhaoxiang Zhang; Ruhan Sa; Yunhong Wang
2011-11-28
Conference Name1st Asian Conference on Pattern Recognition
Source PublicationACPR 2011
Conference Date28th November 2011
Conference PlaceBeijing, China
AbstractA 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.
KeywordRobustness Image Color Analysis Robots Target Tracking Cameras Clutter
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13244
Collection类脑智能研究中心
Corresponding AuthorZhaoxiang Zhang
Recommended Citation
GB/T 7714
Zhaoxiang Zhang,Ruhan Sa,Yunhong Wang. A Real Time Object Tracking Approach for Mobile Robot Visual Servo Control[C],2011.
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