基于视觉预测的运动目标实时跟踪系统

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钟建冬, 苏剑波. 基于视觉预测的运动目标实时跟踪系统[J]. 机器人, 2010, 32(4): 516-521.. ZHONG Jiandong, SU Jianbo. A Real-time Moving Object Tracking System Based on Visual Prediction. ROBOT, 2010, 32(4): 516-521..

摘要针对机器人控制系统中更高的视觉反馈实时性要求，提出一种基于最小二乘法预测的目标实时跟踪方法．该方法采用最小二乘法预测运动目标的位置，以限定目标搜索范围，从而提高跟踪速度．实验结果表明该方法能满足快速视觉伺服响应的实时性要求．

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	钟建冬
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关键词 ：目标实时跟踪, 运动控制, 视觉伺服, 预测, 最小二乘法

Abstract：To meet the higher requirements of the robot control system for real-time visual feedback,a real-time object tracking method based on prediction with least square is presented.By using least squares prediction on the position of moving object,the search region is limited,so that the tracking speed is improved.Experimental results show that the proposed method can meet the requirements for real time response of fast visual servo.

Key words： real-time object tracking motion control visual servo prediction least squares algorithm

收稿日期: 2009-07-24 录用日期: 2010-03-28

TP242.6+2

基金资助:国家自然科学基金资助项目（60935001，60675041）；教育部新世纪优秀人才计划资助项目（NCET-06-0398）

通讯作者: 钟建冬 E-mail: jdzhong@sjtu.edu.cn

作者简介: 钟建冬（1974- ），男，博士生．研究领域:特种机器人，路径规划．
苏剑波（1969- ），男，教授，博士生导师．研究领域:机器人视觉，多机器人协调等．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2010/V32/I4/516

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