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Color tracking method and device

A color and reference color technology, applied in the computer field, can solve the problems of inaccurate tracking results of multiple targets, save judgment time, improve judgment efficiency, and improve tracking efficiency.

Active Publication Date: 2019-04-05
CHANGZHOU TEXTILE GARMENT INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem of inaccurate tracking results of multiple targets in the vision system in the prior art, an embodiment of the present invention provides a color tracking method and device

Method used

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  • Color tracking method and device
  • Color tracking method and device

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Embodiment Construction

[0058] In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0059] Please refer to figure 1 , which shows a method flow chart of a color tracking method provided by an embodiment of the present invention, and this embodiment is illustrated by using the color tracking method in a soccer robot as an example. Such as figure 1 As shown, the color tracking method can include:

[0060] Step 110, acquiring reference color information of at least one single-color object, where the reference color information includes an upper threshold and a lower threshold of each component.

[0061] Wherein, the monochrome target may be an orange football, a green obstacle, etc., which is not specifically limited in this embodiment. In this embodiment, multiple single-color targets with different colors can be tra...

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Abstract

The invention discloses a color tracking method and device, belonging to the technical field of computers. The method includes: acquiring reference color information of at least one monochromatic object, the reference color information including an upper threshold and a lower threshold of each component; determining row x and column y in the recognition image according to the color reference information of each monochromatic object Whether the color of the pixel matches the monochrome target; if the color of the pixel in the xth row and yth column matches the monochrome target, update the number of matching pixels, the sum of the abscissa and the sum of the ordinate, and detect them respectively Whether the pixel point of row x+4, column y, pixel point of row x-4, column y, and pixel point of row x, column y+4 match the monochrome target; calculate the ratio of the sum of the abscissa to the quantity The central abscissa of the matching area is obtained, and the ratio of the sum of the ordinates to the quantity is calculated to obtain the central ordinate of the matching area. Solved the problem of inaccurate tracking results of multiple targets in the current vision system.

Description

technical field [0001] The invention relates to the field of computer technology, in particular to a color tracking method and device. Background technique [0002] No matter what type of robot, it is necessary to configure a visual system to perceive the external world. For example, the robot car recognizes various tracks, the humanoid robot plays football, shoots, plays table tennis, the robot avoids obstacles, walks stairs, etc. The track may Black and white, blue and white and other colors, football, basketball, table tennis may be orange, goal, basket may be yellow, obstacles, stairs may be green, these activities need to rely on the visual system to provide relevant color information for the robot, for the robot The control system provides a basis for making decisions. [0003] At present, when the above-mentioned robot recognizes a target (for example, basketball, table tennis, etc.), it usually traverses each pixel in the image provided by the vision system, and det...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00G06K9/46G06T7/246G06T7/90
CPCG06T7/246G06T7/90G06T2207/10024G06V20/10G06V10/56
Inventor 任志敏刘子明伍转华
Owner CHANGZHOU TEXTILE GARMENT INST