Person Tracking with a Mobile Robot using Two Uncalibrated Independently Moving Cameras
Person Tracking with a Mobile Robot using Two Uncalibrated Independently Moving Cameras
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DOI：
10.1109/robot.2005.1570550
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发表时间：
2005-04
期刊：
影响因子：
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通讯作者：
Hyukseong Kwon;Youngrock Yoon;Jae Byung Park;A. Kak
中科院分区：
文献类型：
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作者：
Hyukseong Kwon;Youngrock Yoon;Jae Byung Park;A. Kak
本文提出了一种有效的人跟踪算法的视觉为基础的移动的机器人使用两个独立移动的摄像机，每个摄像机是安装在自己的平移/倾斜单元。在不校准这些相机的情况下，我们所提出的方法的目标是估计到出现在由相机捕获的图像序列中的目标的距离。我们的方法的主要贡献包括：1）建立之间的对应关系的平移/倾斜单元的控制输入和像素的位移在图像平面中，而不使用摄像机的内部参数;和2）推导的距离信息之间的对应关系的分割的颜色斑点从左，右图像的质量中心没有立体摄像机校准。我们所提出的方法已成功地测试了移动的机器人的任务的人以下的真实的环境。
This paper presents an efficient person tracking algorithm for a vision-based mobile robot using two independently moving cameras each of which is mounted on its own pan/tilt unit. Without calibrating these cameras, the goal of our proposed method is to estimate the distance to a target appearing in the image sequences captured by the cameras. The main contributions of our approach include: 1) establishing the correspondence between the control inputs to the pan/tilt units and the pixel displacement in the image plane without using the intrinsic parameters of the cameras; and 2) derivation of the distance information from the correspondence between the centers of masses of the segmented color-blobs from the left and the right images without stereo camera calibration. Our proposed approach has been successfully tested on a mobile robot for the task of person following in real environments.