面向竞争型网络机器人的运动目标快速检测

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引用本文:
卢翔, 刘景泰, 于凯妍, 李海丰, 李岩, 孙雷. 面向竞争型网络机器人的运动目标快速检测[J]. 机器人, 2011, 33(6): 658-665,672.. LU Xiang, LIU Jingtai, YU Kaiyan, LI Haifeng, LI Yan, SUN Lei. Rapid Detection of Moving Target in the Competitive Networked Robots. ROBOT, 2011, 33(6): 658-665,672..

摘要

搭建了基于高速视觉的竞争型网络机器人系统．通过对比选取并融合了多种识别方法，设计了一套面向竞争型网络机器人的目标快速识别跟踪算法．采用动态窗口技术，并通过对不同传统方法的改进，进一步提高了该算法的实时性．本文方法能够在较复杂的背景下跟踪运动的目标机器人，具有较小的运算量及较好的鲁棒性．实验结果表明，该算法处理640×480像素的8位灰度图像的时间不超过5ms．

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	卢翔
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	李岩
	孙雷

关键词 ：竞争型网络机器人系统, 视觉伺服, 高速视觉, 目标识别, 动态窗口

Abstract：

A competitive networked robot system based on high-speed vision is built.At the same time,by comparison, selection and integration of a variety of identification methods,a quick and effective target recognition and tracking algorithm for competitive networked robots is designed.Dynamic window technique and the improvement of traditional methods further enhance the system's real-time performance.The algorithm can track the moving target robot in complex background,with good robustness and less computation.Experimental results show that it takes less than 5 ms to process one frame of grey image of the size 640×480 pixels.

Key words： competitive networked robot system visual servo high-speed vision object recognition dynamic window

收稿日期: 2011-02-25 录用日期: 2011-09-29

TP242

基金资助:

国家自然科学基金资助项目（60905061，60875056）；天津市科技计划资助项目（08JCYBJC12700）

通讯作者: 卢翔 E-mail: luxiangnk@gmail.com

作者简介: 卢翔（1987- ），男，博士生．研究领域：图像处理，视觉伺服，网络机器人．
刘景泰（1964- ），男，教授，博士生导师．研究领域：机器人技术，计算机应用技术，信息化工程．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I6/658

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