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Vision-Based Target-Following Guider for Mobile Robot
Zhang MY(张茗奕)1,2; Xilong Liu1; De Xu1; Zhiqiang Cao1; Junzhi Yu1
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
2019
Issue1Pages:1
Abstract

A vision-based target-following guider for mobile robot is presented in this paper. It consists of three parts: the visual tracking part, the target re-detection part, and the visual servo part. In the visual tracking part, the target contour band (TCB) is proposed for irregular sampling, which can improve the performance of the correlation filter-based methods. In the target re-detection part, potential targets are searched by an off-line trained detector. Then an online training module is used to determine the real target and achieve accurate positioning. The interaction matrix of point features is used in the visual servo part for motion control to maintain the relative pose between the target and the robot. The visual tracking part and the target re-detection part are tested respectively on many videos, which are proved to work well. To show the effectiveness of our method, some state of the art methods are also test. The target-following guider is evaluated on mobile robots. In our experiments, the robot can robustly follow the human target over a long distance, which strongly proved the validity of our target-following guider.

KeywordMobile Robot Target Following Target Re-detection Visual Servo
Indexed BySCI
Language英语
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23927
Collection精密感知与控制研究中心
Corresponding AuthorXilong Liu
Affiliation1.中国科学院自动化研究所
2.中国科学院大学
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Zhang MY,Xilong Liu,De Xu,et al. Vision-Based Target-Following Guider for Mobile Robot[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2019(1):1.
APA Zhang MY,Xilong Liu,De Xu,Zhiqiang Cao,&Junzhi Yu.(2019).Vision-Based Target-Following Guider for Mobile Robot.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS(1),1.
MLA Zhang MY,et al."Vision-Based Target-Following Guider for Mobile Robot".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS .1(2019):1.
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