Active vision human face tracking method and tracking system of robot

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...

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 achieve targets tracking and motion planning

[0003] In the human-computer interaction environment, affected by sunlight and lighting, the light changes greatly; static obstacles and dynamic obstacles have different shapes and uneven distribution; the movement between people is more complicated and they are easy to block each other

Images