Method for detecting and tracking movement target based on omnidirectional vision of robot

An all-round vision and moving target technology, applied in the field of robot-based omnidirectional vision moving target detection and tracking, can solve the problems of difficult detection and tracking of moving targets, and achieve the effects of easy detection and tracking, accurate positioning, and high safety

Inactive Publication Date: 2015-09-23
NANJING LIKUN INTELLIGENT TECH
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AI Technical Summary

Problems solved by technology

[0005] Due to the complexity of target movement in the environment, there are actually many difficulties in the process of moving target detection and tracking, for example, whether the target trajectory is complex, whether the target has a shape change, whether the color of the background is similar to the color of the target, whether the object

Method used

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Embodiment Construction

[0020] This specific embodiment adopts following technical scheme: its method is:

[0021] Step 1: Image acquisition and analysis:

[0022] (1.1), the camera is used to collect images, and the collected graphics are mosaiced to obtain a full range of images;

[0023] (1.2) Perform dynamic analysis on all-round images, using the principle of optical imaging for analysis; check whether the images are complete after analysis;

[0024] (1.3), carry out sound wave detection to omni-directional image, and form sound wave figure;

[0025] Step 2: Detection of moving objects:

[0026] (2.1), using the frame difference method to detect the moving target, after the detection, the image sequence is analyzed by the optical flow method;

[0027] (2.2), compare the two detection pictures in the above (2.1), and compare the incomplete data;

[0028] (2.3), use the mixed Gaussian model to construct incomplete data into complete data; and use the mixed Gaussian model to detect moving objec...

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Abstract

A method for detecting and tracking a movement target based on omnidirectional vision of a robot relates to the technical field of robots. The method comprises the following steps: step 1: acquiring and analyzing an image; step 2: detecting the movement target: (2.1), detecting the movement target by adopting an inter-frame differential method, and analyzing an image sequence through an optical flow method after detection; (2.2), comparing two types of detection images in the step (2.1) to obtain incomplete data; (2.3), constructing the incomplete data into complete data by adopting a Gaussian mixture model; detecting the movement target through the Gaussian mixture model; and step 3: tracking the movement target: (3.1), establishing a target reference object, and carrying out target tracking and detection through the reference object, and filtering target color; and (3.2), carrying out positioning processing on the tracked target, and calculating the sequence of a positioned target. By virtue of the method, the target can be conveniently and quickly detected and tracked; and the positioning is accurate and convenient, the efficiency is improved and the safety is high.

Description

Technical field: [0001] The invention relates to the technical field of robots, in particular to a method for detecting and tracking a moving target based on robot omnidirectional vision. Background technique: [0002] 70% of the information in the objective world is obtained by human beings through the eyes, the visual perception organ, and this kind of visual information is mainly obtained by human beings in the form of image information. At present, computer vision technology mainly obtains environmental information through traditional visual sensors. However, traditional visual sensors have a small field of view, and the field of view is mostly within 50°. The local information obtained is limited, resulting in a large blind area of ​​the system, which limits The scope of application of computer vision has been broadened. Omni-directional vision sensors have become a research hotspot worldwide in recent years due to the advantages of one-time acquisition of images in the...

Claims

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Application Information

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IPC IPC(8): G06T7/20G06T7/00
CPCG06T7/251G06T7/75G06T2200/32G06T2207/10016
Inventor 蒋霞傅涛朱平
Owner NANJING LIKUN INTELLIGENT TECH
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