Design and Implementation of a Following Robot System Based on Monocular Vision
This paper designs and implements a following robot system based on practical monocular vision sensor.The system can autonomously follow a specific target human body as needed.In the initialization phase,the system uses the background difference method to obtain the motion region and extract the target.In the second phase,continuously adaptive mean-shift algorithm(Camshift)is used to the target tracking,and Kalman filter is used as the starting point of the Camshift to compensate the target shift caused by the camera movement.In the third phase,the feature points of the target human body are extracted and the pose parameters of the target human body relative to the robot location are obtained by the 3D pose estimation algorithm(pose from orthography and scaling with iterations,POSIT).Experiments show that the system has a good stability,and can effectively implement the target human following.
Monocular vision Following robot Kalman POSIT Camshift
Zongyu Wang Lin Zheng Huiying Ye
School of Information Engineering,Wuhan University of Technology,Wuhan,Hubei,China;Key Laboratory of Fiber Optic Sensing Technology and Information Processing(Wuhan University of Technology),Ministry of Education
国际会议
重庆
英文
1360-1363
2017-03-25（万方平台首次上网日期，不代表论文的发表时间）