Research On Visual Object Tracking Methods For Robot

The vision system is one of the important parts in the intelligent robot system, it provides much information about the position and the kinematics for intelligent robots. The intelligent robot may apperceive the working environment and make decision for behavior properly according to the information provided by the vision system. The visual tracking technology is one of branches of visual technologies. It plays important actions in some aspects such as research, application and entertainment of intelligent robots. It extracts parameters of object by employing methods of image processing, and then tracks the object.An object tracking method based on the color features and the shape features of object is presented for tracking a particular object. The method searches some regions whose color features match the object's in the whole image, and then it matches the shape features of object among the regions ascertained by the first step. If the number of all regions whose color and shape features all match the object's is bigger than the total number of objects which will be tracked, the real regions in which the object locates are filtered by using prediction model, so the positions of the object is made sure. The experiments validate the ability of the method on tracking the color and rigid-shape object, this method has global tracking trait.Region color features which are extracted from color image according to the different color information of the different components in HSI color model, act as the color features of the object. They include One Dimension Color Eigenvalue and Region Mean Gray Scale. One Dimension Color Eigenvalue has good stability, it is not changed when the luminance is changed, so it reflects the natural color features of objects. Region Mean Gray Scale is the mean gray scale value of all pixels in one connective region, it reflects the luminance of the region. The experiment data show that One Dimension Color Eigenvalue is steady when Region Mean Gray Scale is changed at some extent.Region segmentation technology must be used during the process of...