Person following of binocular robot by extracting multiple features - 文章详情页

作者：

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

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EI Scopus PKU CSCD

摘要：

To　solve　the　person　following　problem　of　binocular　robot　in　complex　environment,　a　method　of　extracting　multi-feature　is　presented.　For　the　stationary　robot　and　moving　target,　the　improved　gait　flow　image　and　view　are　adopted　to　recognize　the　target,　and　then　the　color　template　is　constructed.　For　both　the　moving　robot　and　target,　the　motion　information　of　the　head　and　shoulder　model　and　the　color　feature　extracted　by　extended　Kalman　filter(EKF),　the　Hu　moment　based　head　and　shoulder　model　matching　method　and　the　adaptive　kernel　based　CamShift　algorithm　are　used　to　track　the　target.　The　experiments　show　that　this　method　avoids　selecting　the　person　manually,　and　tracks　the　person　effectively　in　complex　environment,　such　as　backgroud　and　target　high　similarity,　occlusion　and　so　on.

关键词：

Binoculars Color matching Extended Kalman filters Image enhancement Robots

作者机构：

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

通讯作者信息：

电子邮件地址：

jsm@bjut.edu.cn

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