Target object following method for mobile robot based on monocular vision sensor

Abstract

The present invention relates to the field of computer vision recognition, and specifically provides a method for following a target object of a mobile robot based on a monocular vision sensor, aiming to solve the problem that the existing mobile robot has poor robustness in following the target object, and it is difficult to ensure the following target objects such as pedestrians quality problem. For this purpose, the method that the present invention provides comprises that mobile robot acquires the image of the target object according to the target area of ​​the target object; Obtain the feature matrix of the image of the target object; Utilize the target tracking algorithm and the feature matrix to determine the center point of the target object; According to the center point and the outline frame of the target object to determine the area where the target object is located as the first area, judge whether the proportion of the area of ​​the first area in the image of the target object is greater than a set threshold, and perform corresponding operations according to the judgment result. Based on the above steps, the method provided by the present invention has good real-time performance and robustness, and can effectively follow the target object.

Description

technical field [0001] The invention relates to the field of computer vision, in particular to the field of mobile robots, in particular to a method for following a target object of a mobile robot based on a monocular vision sensor. Background technique [0002] Intelligent mobile robots follow moving targets and are widely used in home services, helping the elderly and the disabled, scene monitoring, and smart cars. The following of mobile robots to target objects involves fields such as computer vision, motion control, and pattern recognition, and has broad application prospects. [0003] Different from methods such as TLD (Tracking-Learning-Detection) and STRUCK, mobile robots have high robustness requirements for following target objects. Typically, mobile robots utilize laser sensors or vision sensors for perception. Although the laser sensor can obtain accurate distance information, it is not robust enough in the recognition and tracking of the target object, and it ...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem that the existing mobile robot has poor robustness in following the target object and it is difficult to follow the target object such as pedestrians, the present invention proposes a mobile robot based on a monocular vision sensor The target object following method improves the robustness to complex backgrounds and ensures that the mobile robot can follow target objects such as pedestrians in different environments

Images