Active vision human face tracking method and tracking system of robot

An active vision and robot technology, applied in the field of active vision face tracking method and tracking system, can solve the problems of uneven distribution, different shapes of static obstacles and dynamic obstacles, large changes in light, etc., and achieve the goal of ensuring continuity Effect

Active Publication Date: 2012-04-11
PEKING UNIV
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AI Technical Summary

Problems solved by technology

At present, target tracking technology is mostly used in video surveillance, video codec, intelligent transportation and other fields, and is mainly concentrated on PC-based platforms. However, there is little research on target tracking technology for human-computer interaction robots, especially the use of active cameras to ac

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  • Active vision human face tracking method and tracking system of robot
  • Active vision human face tracking method and tracking system of robot
  • Active vision human face tracking method and tracking system of robot

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Embodiment Construction

[0046] refer to figure 1 , the specific design of the present invention's active visual face tracking and motion planning system for human-computer interaction robots is as follows:

[0047] (1) System functions:

[0048] The mobile robot obtains environmental information images through the active camera and detects whether there is a human face, circles the face area and displays it on the robot's display, and at the same time the program changes from face detection to face tracking. The movement in the vertical direction and the rotation movement of the robot track the face target in real time and display it on the monitor in real time. If the tracking target stops, the robot avoids obstacles between the human and the robot through motion planning technology, such as a table or a walking human body, and finally reaches the target position of the tracking human body.

[0049] (2) System input:

[0050] The image information obtained by the camera and the obstacle distance ...

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Abstract

The invention discloses an active vision human face tracking method and tracking system of a robot; the tracking method comprises the steps that: (1) the mobile robot acquires an environment information image and detects a human face target through an active camera; and (2) after the human face target is detected, the robot tracks the human face target, and maintains the human face target in the center of the image through the active camera and the movement of the robot. The tracking system comprises the active camera, an image tracking module, a movement tracking module, a hierarchy buffer module and a state feedback module. The invention realizes the automatic human face detection and tracking by the robot, overcomes the limitation of a smaller image vision angle and establishes a perception-movement ring of the mobile robot based on active vision by combining the image tracking with the movement tracking, so that the movement scope for human face tracking is expanded to 360 degrees, the all-sided expansion of the tracking scope is ensured. A two-layer buffer region ensures the tracking continuity, so that the human face target is always maintained in the center of the image.

Description

technical field [0001] The invention belongs to the technical field of mobile robot target tracking and motion planning, and in particular relates to a fast and robust active vision face tracking method and tracking system. Background technique [0002] Object tracking and motion planning technology is an interdisciplinary subject, which integrates key technologies in many fields such as image processing, pattern recognition, artificial intelligence, automatic control, and motion planning. At present, target tracking technology is mostly used in video surveillance, video codec, intelligent transportation and other fields, and is mainly concentrated on PC-based platforms. However, there is little research on target tracking technology for human-computer interaction robots, especially the use of active cameras to achieve targets tracking and motion planning. [0003] In the human-computer interaction environment, affected by sunlight and lighting, the light changes greatly; s...

Claims

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Application Information

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IPC IPC(8): G05D1/02G06K9/00
Inventor 刘宏赵浩丁润伟
Owner PEKING UNIV
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