Research On Colorful Moving Target Detection And Tracking Control Problems Based On Vision

In recent years,with prosperously development of science and technology,more andmore people are researching tracking by control PTZ and mobile robot based on visualattention,in here,target detection, identification and tracking in moving background rely onits extensive application and importance in various fields that become a hot researchdirection for many researchers.This paper focuses on the problem of accurately detecting and identifying,controllingPTZ and mobile robot to track target in moving background which the occurrence of thecamera and moving target happen relatively moving.the main contents are as follows:1、Colorful and moving target detection is vision-based. in some moving background,Moving target is colorful that is a priori condition.To improve the accuracy of targetrecognition,video image captured need to be preprocessing.In research,referencing thethinking of football bobot to identify targets,proposing colorful image thresholding in YUVcolor model,then post processing and extracting desired features.To lay a good foundationfor the tracking study.2、Moving target tracking,based on color characteristics of the target.in-depth studyCamShift tracking algorithm in which the core idea is Mean-shift.After taking into someunpredictable interference account the environment,combining CamShift tracking algorithmwith Kalman filter.This combination algorithm can overcome the situation that similar colorinterference and partially obscured targets in experimental environment,improving trackingaccuray.3、There are two situation when controlling PTZ and robot to track target.One is themobile robot is stationary,the second is PTZ and the mobile robot are moving.The value ofthe target object from the camera is the standard of two work.So,in order to make a clearjudgment,we make a model of monocular vision ranging,on condition that target and mobilerobot are the same plane.Through real-time distance,the measured value is compared withthe setted value,to complete division of labor.4、Goal of tracking is putting the target to the center area of the field of view throughcontrolling PTZ and mobile robot.then analyzing the control parameters,proposing controlstrategy and calling serial port to control the mobile platform in program.Finally,developingautomatic tracking system main interface to operate by MFC.