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Vision-Based Target-Following Guider for Mobile Robot
Zhang, Mingyi1,2; Liu, Xilong1,2; Xu, De1,2; Cao, Zhiqiang3; Yu, Junzhi3
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN0278-0046
2019-12-01
Volume66Issue:12Pages:9360-9371
Corresponding AuthorLiu, Xilong(xilong.liu@ia.ac.cn)
AbstractA vision-based target-following guider for mobile robot is presented in this paper. It consists of three parts: the visual tracking part; the target redetection part; and the visual servo part. In the visual tracking part, the target contour band is proposed for irregular sampling, which can improve the performance of the correlation filter-based methods. In the target redetection part, potential targets are searched by an offline 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 redetection part are tested respectively on many videos, which proved to work well. To show the effectiveness of our method, some state-of-the-art methods are also tested. 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 redetection visual servo
DOI10.1109/TIE.2019.2893829
WOS KeywordOBJECT TRACKING
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[61421004] ; National Natural Science Foundation of China[61503376] ; National Natural Science Foundation of China[61733004] ; Beijing Natural Science Foundation[4161002]
Funding OrganizationNational Natural Science Foundation of China ; Beijing Natural Science Foundation
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:000480309400024
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
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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 AuthorLiu, Xilong
Affiliation1.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
First Author AffilicationChinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
Corresponding Author AffilicationChinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Zhang, Mingyi,Liu, Xilong,Xu, De,et al. Vision-Based Target-Following Guider for Mobile Robot[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2019,66(12):9360-9371.
APA Zhang, Mingyi,Liu, Xilong,Xu, De,Cao, Zhiqiang,&Yu, Junzhi.(2019).Vision-Based Target-Following Guider for Mobile Robot.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,66(12),9360-9371.
MLA Zhang, Mingyi,et al."Vision-Based Target-Following Guider for Mobile Robot".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 66.12(2019):9360-9371.
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