Research Of Moving Target Detection And Tracking System Based On Mobile Robot

The visual information, especially the dynamic visual information, occupies most of the composition among the environment information perceived by human beings. Computer vision is the use of computer to simulate human eyes system. It could get information from image sequence, and recognize the configuration and feature of the goal object. Because color image can describe objects better than the gray-level image, more information can be obtained from processing color image.The paper focuses on the research of moving target detection and tracking system, solving the technical problems such as the color segmentation, form detection and target tracking. It finally achieves the color target recognition and tracking system based on the mobile robots and completes the corresponding experiments. The major work and results of the paper are as the following:Firstly, the performance and function indexes of the mobile robot moving target detection and tracking system are analyzed. And the general structure composition of the system and the realization forms of all subsystems are designed.Secondly, moving target detection and tracking algorithm are investigated. The paper designs the target segmentation algorithm based on the characteristics of color and shape, which successfully divides the colored targets in the images. The classic Camshift Algorithm is improved: achieved the complete automation of Camshift. The Kalman filter is added into the Camshift, which increases the robustness of the algorithm when the target is sheltered. By setting the parameters, the algorithm can reinitialize and begin a new round of detection and tracking immediately when its track failed. The feasibility of the algorithm of the target detection and tracking designed in this paper is proofed by the experiments.Finally, the moving target detection and tracking system based on mobile robots is established. The system transmits the image results dealt by the upper computer to the lower computer on wireless way. The mobile robot controlled by the lower computer tracks the object. This system has ultrasonic distance measurement system, which could perceive the distance between the robot and the target, avoiding the impact of the robot and target.