The Research Of Object Tracking Arithmetic Of Robot Based On V3 Image Processing Board

The birth of the robot is undoubtedly a great achievement of human science and technology of the 20th century. The vision technology of the robot is the new technology developed in the eighties and has already become an important subject for research in high-tech neighborhood in recent years.One important characteristic of the robot vision system is a large amount of data and the fast processing speed. Especially the vision system of autonomous mobile robot used in object localization and follow requires much higher operation speed of the computer. So the processing speed of the computer has become a bottle-neck problem that the robot vision system need to resolve urgently. One of the methods to solve this problem is to design a type of new computer system structure that is suitable for the video signal processing of robot vision. V3 image processing board based on DSP data processing ability at a high speed is exactly a new-type high performance device designed for meeting this kind of request. It can complete rapidly video signal digitalization and processing. So it can meet the request of localization and tracking in real time for the vision system of autonomous mobile robot.We have more deeper researched in all kinds of the object tracking arithmetic for autonomous mobile robot. Based on perspective model, it was proposed that drawing camera inner parameters with physics method; In image processing, especially the particularity of robot object localization and tracking, it was proposed that several effective methods of image smoothing and sharpening, edge detection, boundary tracking; At the same time, in order to complete object recognition, we introduced the methods of drawing object character parameters; In object image matching, two kinds of effective object matching arithmetic was proposed; Based on the principle of object 3D information restoration, we proposed two kinds of arithmetic of 3D coordinate restoration of object featurepoints, and completed object movement parameters estimate and object tracking and prediction, and presented experimental result.After experiment and analyzing in object tracking arithmetic of autonomous mobile robot, we based on the intelligent mobile robot flat GAIA-2 as developing instrument and proposed a kind of robot object localization and tracking arithmetic suitable for robot vision system with V3 image processing board. The arithmetic, which aimed at the character of object localization and tracking of robot vision system with one camera and based on characteristic color as object character and applied figure distinguishing arithmetic and object edge detection, completed object localization and tracking by obtaining position feature point coordinate on image plane. The experimental result shows that this arithmetic is fast and effective and able to complete object localization and tracking of autonomous mobile robot.