Implementation of Tracking and Capturing a Moving Object using a Mobile Robot
Implementation of Tracking and Capturing a Moving Object using a Mobile Robot
复制标题
移动机器人跟踪捕捉运动物体的实现
DOI：
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发表时间：
2005
期刊：
影响因子：
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通讯作者：
Jangmyung Lee
中科院分区：
文献类型：
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作者：
SangJoo Kim;Jin;Jangmyung Lee
提出了一种基于摄像机图像的移动机器人跟踪捕获运动目标的新方案。假设移动对象是点对象，并将其投影到图像平面上以形成几何约束方程，该几何约束方程基于活动摄像机的运动学来提供对象的位置数据。利用卡尔曼滤波对点目标假设引起的位置估计不确定性进行了补偿。为了生成捕获运动目标的最短时间路径，估计并利用线速度和角速度。文中给出了利用移动机器人对目标物体进行跟踪捕获的实验结果。
A new scheme for a mobile robot to track and capture a moving object using camera images is proposed. The moving object is assumed to be a point-object and is projected onto an image plane to form a geometrical constraint equation that provides the position data of the object based on the kinematics of the active camera. Uncertainties in position estimation caused by the point-object assumption are compensated for using the Kalman filter. To generate the shortest time path to capture the moving object, the linear and angular velocities are estimated and utilized. In this paper, the experimental results of the tracking and capturing of a target object with the mobile robot are presented.