1P1-L01 Target tracking system based on the biological vision and auditory systems(Vision System for Mobile Robot)

2013 ◽  
Vol 2013 (0) ◽  
pp. _1P1-L01_1-_1P1-L01_4
Author(s):  
Shinnosuke IDETA ◽  
Masahiro TANAKA ◽  
Ryuji UEDA ◽  
Kimihiro NISHIO
Keyword(s):  
Mobile Robot ◽  
Target Tracking ◽  
Vision System ◽  
Tracking System ◽  
Biological Vision ◽  
Auditory Systems

A Stereo Vision Based Target Tracking and Obstacle Avoidance

2009 ◽  
Vol 419-420 ◽  
pp. 565-568 ◽  
Author(s):  
Chao Ching Ho
Keyword(s):  
Mobile Robot ◽  
Target Tracking ◽  
Obstacle Avoidance ◽  
Visual Tracking ◽  
Stereo Vision ◽  
Vision System ◽  
Tracking System ◽  
Video Data ◽  
Corner Detection ◽  
Harris Corner

Designing a visual tracking system to track an object is a complex task because a large amount of video data must be transmitted and processed in real time. In this study, a stereo vision system is used to acquire the 3D positions of the target, tracking can be achieved by applying the CAMSHIFT algorithm, then apply the fuzzy reasoning control to steer the mobile robot to follow the selected target and avoid the in-path obstacles. The adopted obstacle avoidance component is based on the Harris corner detection and the binocular stereo imaging, which performs the correspondence calculation. Therefore a depth map is created and showing the relative 3D distances of the detected substantial features to the robot, which provides the information of the in-path obstacles in front of the wheeled mobile robot. The designed visual tracking and servo system is less sensitive to lighting influences and thus performs more efficiently. Experimental results showed that the mobile robot vision system successfully finished the target-following task by avoiding obstacles.

Implementation of a Moving Target Tracking Algorithm Using Eye-RIS Vision System on a Mobile Robot

2010 ◽  
Vol 64 (3) ◽  
pp. 447-455 ◽  
Author(s):  
Fethullah Karabiber ◽  
Paolo Arena ◽  
Luigi Fortuna ◽  
Sabestiano De Fiore ◽  
Guido Vagliasindi ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Target Tracking ◽  
Vision System ◽  
Tracking Algorithm ◽  
Moving Target ◽  
Moving Target Tracking

Image Processing Algorithm for Tracking and Picking an Object for an Open Platform Mobile Robot

2009 ◽  
Vol 419-420 ◽  
pp. 569-572 ◽  
Author(s):  
Chao Ching Ho
Keyword(s):  
Mobile Robot ◽  
Visual Tracking ◽  
Vision System ◽  
Tracking System ◽  
Video Data ◽  
Target Color ◽  
Image Processing Algorithm ◽  
End Effector ◽  
Open Platform ◽  
Pick And Place

Designing a visual tracking system to pick-and-place an object is a complex task because a large amount of video data must be transmitted and processed in real time. In this work, a mobile robot visual control system is proposed which uses a stereo vision to acquire the 3D positions of a target color ball and to control an end-effector to pick the ball up and place it in the specified location. This mobile robotic system is based on the Open Source Computer Vision Library for programming framework with portable components, off-the-shelf commercial hardware, and minimal programming. Two calibrated web cameras are used to track the color ball and a 2-axis end-effector is controlled to pick up the tracked color ball. The visual tracking and servo system as designed in this work is less sensitive to lighting influences and thus performs more efficiently. Experimental results show that the open platform based robot vision system successfully finishes the pick-and-place task and could be scalable to many diverse areas of robotics research

Optimization and Realization of Target Tracking Algorithm Based on Embedded System

2012 ◽  
Vol 468-471 ◽  
pp. 2352-2356
Author(s):  
Qi Yuan Sun ◽  
Lei Ma ◽  
Zuo Liang Cao
Keyword(s):  
Mobile Robot ◽  
Embedded System ◽  
Particle Filter ◽  
Target Tracking ◽  
Real Time ◽  
Vision System ◽  
High Reliability ◽  
Tracking Algorithm ◽  
Real Time Processing ◽  
Particle Filter Algorithm

Target tracking algorithm is used widely in many fields, such as robot vision system, intelligent surveillance and medicine, but computational complexity and lack of dedicated embedded system for real-time processing have affected its application. This paper presents a method that combines embedded system, smart camera and mobile robot for detecting and tracking the moving targets. On the basis of particle filter algorithm, mean shift embedded particle filter algorithm is proposed and implemented on embedded platform with ARM+DSP dual core framework. At last, the whole system is optimized to improve the real-time property. The proposed method has a very powerful data processing ability, which can offer a high reliability for the navigation of a mobile robot.

scholarly journals Performance Verification of a Target Tracking System With a Laser Rangefinder

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 30993-31009
Author(s):  
Jihoon Lee ◽  
Suwon Lee ◽  
Youngjun Lee ◽  
Youdan Kim ◽  
Yongjun Heo ◽  
...  
Keyword(s):  
Target Tracking ◽  
Tracking System ◽  
Laser Rangefinder ◽  
Performance Verification
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