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..
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.
[1] 刘景泰,李海丰,孙雷,等.Tele-LightSaber——一种高对抗度竞争型网络机器人系统[J]. 机器人,2009,31(6):505-512.Liu J T,Li H F,Sun L,et al.Tele-LightSaber-A kind of competitive networked robots with high degree of opposition[J]. Robot,2009,31(6):505-512.
[2] Won S H P,Golnaraghi F,Melek W W.A fa-stening tool tracking system using an IMU and a position sensor with Kalman filters and a fuzzy expert system[J]. IEEE Transactions on Industrial Electronics,2009,56(5):1782-1792.
[3] Islam M Z,Oh C M,Lee C W.Real time moving object tracking by particle filter[C]//International Symposium on Computer Science and Its Applications.Piscataway,N J,USA:IEEE,2008:347-352.
[4] 李鹏飞,喻建平,李良群.基于模糊自适应α-β滤波的机动目标跟踪[J]. 系统工程与电子技术,200830(11):2138-2141.Li P F,Yu J P,Li L Q.Maneuvering target tracking based on fuzzy adaptive α-β filter[J]. Systems Engineering and Electronics,2008,30(11):2138-2141.
[5] Nakabo Y,Ishikawa M,Toyoda H,et al.1 ms column parallel vision system and it's application of high speed target tracking[C]//IEEE International Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE,2000:650-655.
[6] Watanabe Y,Komuro T,Ishikawa M.A high-speed vision system for moment-based analysis of numerous objects[C]//IEEE International Conference on Image Processing.Piscataway,NJ,USA:IEEE,2007:177-180.
[7] Senoo T,Namiki A,Ishikawa M.Ball control in high-speed batting motion using hybrid trajectory generator[C]//IEEE International Conference on Robotics and Automation.Piscataway,NJ,USA:IEEE,2006:1762-1767.
[8] Li H F,Liu J T,Li Y,et al.Trajectory planning for visual servoing with some constraints[C]//29th Chinese Control Conference.Piscataway,N J,USA:IEEE,2010:3636-3642.
[9] Li H F,Liu J T,Li Y.Visual servo of uncalibrated eye-in-hand system with time-delay compensation[C]//8th World Congress on Intelligent Control and Automation.Piscataway,NJ,USA:IEEE,2010:1322-1328.
[10] ision Components GmbH Ettlingen.VCRT 5.0 software manual[Z]. Germany:Vision Components GmbH Ettlingen,2007.
[11] 杨晶.基于计算机视觉的一体化乒乓球测速方法研究[D]. 哈尔滨:哈尔滨工业大学,2002.Yang J.Study on integrated velocity measurement method of ping pong ball based on computer vision[D]. Harbin:Harbin Institute of Technology,2002.
[12] Shi J B,Tomasi C.Good features to track[C]//IEEE Computer Society Conference on Computer Vision and Pattern Recognition.Piscataway,N J,USA:IEEE,1994:593-600.
[13] Otsu N.Discriminant and least square threshold selection[C]//4th International Joint Conference on Pattern Recognition.Stevenage,UK:IEE,1979:592-596.
[14] Brown L G.A survey of image registration techniques[J]. ACM Computing Surveys,1992,24(4):325-376.
[15] Sun C M.Multi-resolution rectangular subregioning stereo matching using fast correlation and dynamic programming tecbniques[R/OL]. [2010-10-09].http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.31.8269.
[16] Smith S M,Brady M J.SUSAN-A new approach to low level image processing[J]. International Journal of Computer Vision,1997,23(1):45-48.
[17] 张映权,王琼华,李大海,等.改进的SUSAN角点检测算法[J]. 现代电子技术,2009,32(20):42-44.Zhang Y Q,Wang Q H,Li D H,et al.Improved SUSAN corner detection algorithm[J]. Modem Electronic Technique,2009,32(20):42-44.
[18] Harris C G,Stephens M.A combined corner and edge detector[C]//Proceedings of the 4th Alvey Vision Conference.1988:147-151.
[19] 侯建辉,林意.自适应的Harris棋盘格角点检测算法[J]. 计算机工程与设计,2009,30(20):4741-4743.Hou J H,Lin Y.Adaptive Harris X-corner detection algorithm[J]. Computer Engineering and Design,2009,30(20):4741-4743.