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Proceedings Paper

Dynamic object recognition and tracking of mobile robot by monocular vision
Author(s): Lei Liu; Yongji Wang
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Paper Abstract

Monocular Vision is widely used in mobile robot's motion control for its simple structure and easy using. An integrated description to distinguish and tracking the specified color targets dynamically and precisely by the Monocular Vision based on the imaging principle is the major topic of the paper. The mainline is accordance with the mechanisms of visual processing strictly, including the pretreatment and recognition processes. Specially, the color models are utilized to decrease the influence of the illumination in the paper. Some applied algorithms based on the practical application are used for image segmentation and clustering. After recognizing the target, however the monocular camera can't get depth information directly, 3D Reconstruction Principle is used to calculate the distance and direction from robot to target. To emend monocular camera reading, the laser is used after vision measuring. At last, a vision servo system is designed to realize the robot's dynamic tracking to the moving target.

Paper Details

Date Published: 15 November 2007
PDF: 9 pages
Proc. SPIE 6786, MIPPR 2007: Automatic Target Recognition and Image Analysis; and Multispectral Image Acquisition, 678607 (15 November 2007); doi: 10.1117/12.747690
Show Author Affiliations
Lei Liu, Huazhong Univ. of Science and Technology (China)
Key Lab. of Image Processing and Intelligent Control, Ministry of Education (China)
Yongji Wang, Huazhong Univ. of Science and Technology (China)
Key Lab. of Image Processing and Intelligent Control, Ministry of Education (China)


Published in SPIE Proceedings Vol. 6786:
MIPPR 2007: Automatic Target Recognition and Image Analysis; and Multispectral Image Acquisition

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