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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
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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

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  • Visual tracking method for mobile robot

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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...

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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...

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Application Information

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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
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