Object Tracking Based On Monocular Vision

Based on the research of visual platform of robot object tracking more and more attention by people,which under the background of moving target detecting and tracking problems with its wide and important applications in various fields become researchers a hot direction.In order to realize the real-time tracking of the object,designs a fixed chassis mounted on the two degree of freedom platform mechanism,and through the single camera mounted on top of the mechanism for image acquisition is input to the PC terminal for processing,finally control the follow-up platform of body tracking.In the tracking on the basis of the vestibulo ocular reflex according to the function of the human eye,simulation of the anti jamming test.The main contents are as follows:Firstly,it introduces the background and target tracking,the research status and the main methods at home and abroad,the research status of the hardware and the special function of the human eye.Finally,the overall structure of this paper is arranged;Secondly,the software and hardware design of the follow-up platform,including mechanical unit,central processing unit,object recognition unit,steering engine drive unit and power module.And the mechanical structure which analyzes the mechanism of load capacity,the two part of the body and the weakest of the stress analysis of the dangerous point;the application interface MFC and Opencv function library to develop control system and vision system based on;Thirdly,visual tracking based on Mean-shift algorithm,recognition and detection of the image by improved Camshift algorithm,the image of moving object in real time coordinates and the center deviation feedback control with the moving platform of object tracking,fuzzy controller is designed to achieve more accurate tracking results.Fourthly,taking into account the actual use,when the follow-up platform installed on the robot,because of the bumpy road,etc.,the tracking process is often subject to external interference,will have a certain impact on tracking results,or even lost.To solve this problem,by simulating the human vestibular oculomotor function of the system in case of outside interference,the fuzzy PD controller is designed to addcompensation,and compared before and after the experiment through different interference intensity under the static identification,preliminary proves the validity of the algorithm.