Human tracking based on multi-feature for intelligent robot under the CTF locating strategy - 文章详情页

作者：

Jia, Song-Min (Jia, Song-Min.) (学者：贾松敏) | Wang, Shuang (Wang, Shuang.) | Wang, Li-Jia (Wang, Li-Jia.) | Li, Xiu-Zhi (Li, Xiu-Zhi.)

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摘要：

To　realize　a　human　tracking　task　in　a　cluttered　environment,　a　method　of　multi-feature　based　human　tracking　under　the　CTF(coarse-to-fine)　locating　strategy　was　proposed.　The　proposed　method　located　the　target　from　a　RFID　system　coarsely.　Then,　the　silhouette　of　the　head-shoulder,　the　cloth　color　and　motion　feature　were　extracted　to　locate　the　target　accurately　by　using　the　processing　techniques　including　adaptive　template　matching　algorithm,　improved　Camshift　and　Extended　Kalman　Filter.　At　last,　an　intelligent　gear　shift　controller　based　on　fuzzy　rules　considering　the　motion　state　of　the　target　and　the　robot　was　utilized　to　drive　the　robot.　The　experimental　results　show　that　the　presented　method　can　keep　the　robot　in　a　suitable　distance　from　the　target　and　handle　the　problem　of　occlusion,　a　sudden　turn,　and　complicated　background.

关键词：

Fuzzy inference Template matching Intelligent robots Target tracking Kalman filters Location Color matching

作者机构：

[ 1 ] [Jia, Song-Min]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing; 100124, China
[ 2 ] [Wang, Shuang]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing; 100124, China
[ 3 ] [Wang, Li-Jia]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing; 100124, China
[ 4 ] [Wang, Li-Jia]Department of Information Engineering and Automation, Hebei College of Industry and Technology, Shijiazhuang; 050000, China
[ 5 ] [Li, Xiu-Zhi]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing; 100124, China

通讯作者信息：

贾松敏
[jia, song-min]college of electronic information and control engineering, beijing university of technology, beijing; 100124, china

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