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Binocular Based Moving Target Tracking for Mobile Robot

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Intelligent Robotics and Applications (ICIRA 2009)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5928))

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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.

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Author information

Authors and Affiliations

  1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, 110016, Shenyang, China

    Yingkui Du, Baojie Fan, Jianda Han & Yandong Tang

  2. Graduate School of the Chinese Academy of Science, 100039, Beijing, China

    Yingkui Du & Baojie Fan

Authors
  1. Yingkui Du
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  2. Baojie Fan
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  3. Jianda Han
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  4. Yandong Tang
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Editor information

Editors and Affiliations

  1. School of Mechanical and Aerospace Engineering, Nanyang Technological University, 639798, Singapore

    Ming Xie

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, P. R. China

    Youlun Xiong

  3. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, P.R. China

    Caihua Xiong

  4. Institute of Industrial Research, University of Portsmouth, PO1 3QL, Portsmouth, UK

    Honghai Liu

  5. Department of Computer Science and Electrical Engineering, Kumamoto University, 860-8555, Kumamoto, Japan

    Zhencheng Hu

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© 2009 Springer-Verlag Berlin Heidelberg

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Du, Y., Fan, B., Han, J., Tang, Y. (2009). Binocular Based Moving Target Tracking for Mobile Robot. In: Xie, M., Xiong, Y., Xiong, C., Liu, H., Hu, Z. (eds) Intelligent Robotics and Applications. ICIRA 2009. Lecture Notes in Computer Science(), vol 5928. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10817-4_91

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  • DOI: https://doi.org/10.1007/978-3-642-10817-4_91

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-10816-7

  • Online ISBN: 978-3-642-10817-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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