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

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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
会议名称	1st Asian Conference on Pattern Recognition
会议录名称	ACPR 2011
会议日期	28th November 2011
会议地点	Beijing, China
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.
关键词	Robustness Image Color Analysis Robots Target Tracking Cameras Clutter
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/13244
专题	智能感知与计算研究中心
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],2011.