Research On Object Tracking Algorithm Based On Multi-sensor Data Fusion

Moving target detection and intelligent tracking is an important research direction inthe field of mobile robots. It combines the advanced technologies in image processing,artificial intelligence, automatic control, and many other areas. Among them, the study oftarget tracking based on multi-sensor fusion technology solves problems such as the smallamount of information data of the single sensor cannot meet the tracking requirements. Thispaper conducts a research on issues of moving target detection and the intelligent trackingof mobile robot, using monocular vision and laser sensors to realize robot tracking system,which has important theoretical and practical value. The main contents are as follows:(1) Chromatic moving target detection. Detect chromatic target on the ground in thebackground of sport. In order to improve the accuracy of target identification, preprocess thecollected video sequences, evaluate the segmentation threshold with the improved OTSUadaptive algorithm, and extract the target feature after the late morphological processing.(2) In terms of moving target tracking algorithm, a combination of Kalman algorithmprediction and CamShift algorithm tracking are used to track moving objects; Kalmanalgorithm is used to predict the location of the next frame target, which effectively improvesthe tracking performance and accuracy.(3) Propose a target tracking strategy based on the fusion of monocular vision and lasersensor data. Monocular visual has a detection and recognition of the target objects; laser hasa precise ranging. Both are indispensable conditions for the subsequent tracking of mobilerobots.(4) Design the tracking strategy of the coordinated control of PTZ and mobile robot.The information of the distance between the robot and the target object and that of thecorner of PTZ are used as a criterion of judgment. Design different conditions: one is a PTZtracking, and the other is PTZ and mobile robot coordinated control tracking----toultimately achieve the effects that the robot and the target object are within a certainthreshold range, and the target object is also right in the center imaging position of thecamera.