Visual tracking method for mobile robot

A mobile robot and visual tracking technology, applied in the field of visual tracking, to achieve the effect of reducing the amount of calculation, reducing the identity jump, and reducing the search area

Pending Publication Date: 2021-03-16
NORTHWESTERN POLYTECHNICAL UNIV
View PDF0 Cites 1 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in actual tasks, only the initial frames of the video sequence are usually provided as training data, so how to train with only a small amount of data is the primary problem

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Visual tracking method for mobile robot
  • Visual tracking method for mobile robot
  • Visual tracking method for mobile robot

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment

[0038]1. Design an algorithm based on HOG feature similarity calculation (HM-Siam), which follows the general SiamFC tracking framework, that is, the problem of tracking any target is regarded as a similarity problem. A function f(x,y) is used to compare the similarity between the sample image x and the search image y. If the two images describe the same object, return a high score, otherwise return a low score. Among them, x is the initial template image of the target person, and z is a group of images (z≥2) captured in real time by the next frame camera. But SiamFC only uses the features in the last layer to generate the final Score Map, which are robust to noise but lack the detailed information of the target, so their discrimination is not high enough.

[0039] The appearance information of an object is always a powerful prior knowledge to characterize an object. Therefore, a model based on color statistics can provide powerful information for the visual tracking problem...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a visual tracking method for a mobile robot. According to the method, a full-connection twin network tracking algorithm based on HOG feature similarity calculation and Kalman filtering feedback is used, HOG features based on color statistics are used as an appearance model, a plurality of similar targets in a scene are further distinguished, and identity jump of the targetsis reduced. Meanwhile, a Kalman filtering motion model is adopted, so that accurate prediction of the motion trail of the target is realized, the boundary frame is refined, the search area is reduced, the target shielding problem in the target tracking process is solved, and the calculated amount is reduced. And finally, the bounding box position information of the tracking target is transmittedto a visual servo system for controlling the robot. According to the method, the waste of computing resources caused by searching useless areas is effectively reduced.

Description

technical field [0001] The invention belongs to the technical field of computer vision, and in particular relates to a visual tracking method. Background technique [0002] With the rapid development of artificial intelligence technology, various robots have gradually entered people's daily life. People have regarded them as robots that can interact naturally with the environment, humans and other robots, autonomously adapt to complex dynamic environments, and work collaboratively. Smart partner. Compared with traditional robots, following mobile robots is the future development trend. As a kind of service robot, its function is mainly reflected in using a specific moving target as a tracking object, completing continuous following actions autonomously, and is widely used in assisting special groups of people. (the elderly, the disabled), family services and unmanned logistics handling and other fields. Similarly, following mobile robots are increasingly used in tasks such...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/62
CPCG06V20/48G06V20/46G06V20/52G06F18/22
Inventor 黄攀峰李沅澔马志强董刚奇余航
Owner NORTHWESTERN POLYTECHNICAL UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap