Paper Info
Title
Binocular Based Moving Target Tracking for Mobile Robot
Abstract
Moving target tracking is an important application of computer vision. A binocular based method is presented for mobile robot to track target reliably under the effect of occlusion, transform and rotation in unstructured environment. Point features are extracted for representing the target and environment background under middle distortion, and then are matched and tracked through consecutive stereo frames by our improved MNCC algorithm. The point features are reconstructed and utilized to estimate the relative motion by Least-Square algorithm. Because the relative motion between the point features of target and robot is inconsistent to that of environment background and robot, the point features of environment background and the errors in feature tracking are removed by RANSAC algorithm. Experiment results validate the efficiency of our method.
Year
DOI
Venue
2009
10.1007/978-3-642-10817-4_91
ICIRA
Keywords
Field
DocType
target tracking,ransac algorithm,least-square algorithm,mobile robot,feature tracking,relative motion,improved mncc algorithm,unstructured environment,environment background,point feature,computer vision,binocular vision,least square,motion estimation
Computer vision,Binocular vision,RANSAC,Relative motion,Artificial intelligence,Engineering,Motion estimation,Robot,Distortion,Feature tracking,Mobile robot
Conference
Volume
ISSN
Citations 
5928
0302-9743
0
PageRank 
References 
Authors
0.34
13
4
Name
Order
Citations
PageRank
Yingkui Du1177.23
Baojie Fan24110.48
Jianda Han322060.61
Y. Tang424333.69