Design and Development of a Real-time Multi-object Detection and Tracking Vision System for MP-R Patrol Robot**********

随着现代城市的潜在威胁发生了翻天覆地的变化，公共安全已成为当今的挑战之一。此外，这个问题与人的吸引力和经济的成功密切相关。公共安全通常依赖于地方和联邦警察的能力。然而，报道的范围总是有限的，这可能会因犯罪和恐怖主义而导致严重的悲剧。因此，巡逻机器人可以参与进来来解决这个问题。**本提案的目标是提出一个为期六个月的基于ESI机器人技术开发的MR-P机器人平台的实时目标识别和跟踪系统的研发计划。该项目将应对挑战，并具有以下能力：1)实时视觉和图像处理系统；2)稳健的目标识别和跟踪；3)跟踪目标的姿态估计。**项目及其应用的成果将极大地提高机器人目前的视觉能力，更好地服务于ESI的产品目标。**

Public safety has become one of the challenges nowadays since the potential threats of modern cities have dramatically changed. Moreover, this issue highly relates to the attraction of people and the success of economy. Public safety usually relies on the ability of the local and federal police. However, there is always a limitation of coverage which may lead to serious tragedy due to crime and terrorism. Therefore, patrolling robots can be involved to address the issue.**The objective of this proposal presents a six-month research and development plan of a real-time object identification and tracking system based on the MR-P robot platform developed by ESI's Robotic Technology. The project will address challenges and have abilities: 1) Real-time vision and image processing system; 2) Robust object identification and tracking and 3) Pose estimation of the tracked object.**The outcomes of the project and its applications will greatly improve the current vision capability of the robot, which can better serve the product goal of the ESI.**