Research And Development Of Stereoscopic Target Location And Tracking System

Machine vision is one of the key elements of intelligent robot and plays a significant role inrobot intelligence. Dynamic object tracking and positioning is informatics technologies such asimage processing, automatic control which is combined by quickly detect moving targetinformation from the image, extract the target space position information and real-time trackingtechnology. It is the basis of digital image and video processing. Based on a large number ofmaterials, this article focus on binocular stereo visual and servo campaign control for the systemresearch, and established a control system based on stereo visual of three dimensional campaignplatform dynamic target positioning track, and this system can implement robot visualpositioning track and servo campaign system of integration research, specific work includingfollowing several area:1, According to research purpose and actual of equipment environment, using Bumblebee2industrial digital binocular camera, and high precision three dimensional movement of XYZplatform, IPC, DSP motion control card, Tyco IDM640-8EIA DC servo driver to build thestereoscopic tracking system, and achieved the three-dimensional dynamic target tracking task.2, Take an overall program of stereoscopic dynamic tracking system based on existingtracking algorithm for a summary, especially analyzed the CamShift algorithm based on colorhistogram. Study on target detection method based on binocular stereo vision, binocularstereoscopic camera for moving targets in complex background of static detection, featureextraction, and tracking. Using the principle of Parallax to obtain space coordinates of thetracking information, research of target tracking based on stereo vision and method of threedimensional coordinates of space, taking a study on three-dimensional target tracking and spacelocation and explore the convergence of technologies, eventually achieving the accurately trackthe trajectory of the eventual targets and targets of three-dimensional coordinate space.3, Have a research on development of multi-axis motion controller based on DSP andcommon interpolation algorithms, with DSP2812+CPLD as the core to form DC servo controlsystem. Computed from the stereo camera for space coordinates of the target information andrestricted sites, optimized, using micro-line interpolation algorithm for three dimensionalmovement of XYZ platform driven to achieve arbitrary motion.4, Using the object-oriented development and implementation of technologies, selectingVS2010and c language for developing environment, developing spatial coordinates calculationof image acquisition, target tracking, and campaign platform control software. While takingadvantage of accurate trajectory of six degree of freedom manipulator planning objectives, so asto realize the end pointer for the target dynamic tracking of the motion platform. Xiamen science and technology plan of the present thesis research project (3502Z20113038)funded thesis research work for the advancement of research on visual location and tracking of acertain role in promoting.