A Visual Tracking method for Mobile Robot

Author

Yang, Jie ; Zhang, Mingjun ; Xu, Jianan

Author_Institution

Coll. of Mech. & Electr. Eng., Harbin Eng. Univ.

Volume

2

fYear

0

fDate

0-0 0

Firstpage

9017

Lastpage

9021

Abstract

A novel method of color feature representation was presented. The color features based on hue-saturation-intensity color space, includes one-dimension-color-vector (ODCV) and region-mean-gray-scale (RMGS). ODCV of an object has good stability, because it is not influenced by the changes of illumination. It expresses the native color of an object. A method of moving object tracking was also presented. The method uses ODCV feature for preferential matching feature and searches the moving object in entire image frame. That trait ensures that the method has global tracking capability. The results of experiments show the method´s good ability of tracking a color rigid object with good tracking accuracy

Keywords

feature extraction; image colour analysis; image motion analysis; mobile robots; robot vision; color feature representation; hue-saturation-intensity color space; mobile robot; moving object tracking; one-dimension-color-vector; preferential matching feature; region-mean-gray-scale; visual tracking; Automation; Color; Educational institutions; Intelligent control; Intelligent robots; Lighting; Mobile robots; Stability; Color features; Color image; Mobile robot; Object tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on

Conference_Location

Dalian

Print_ISBN

1-4244-0332-4

Type

conf

DOI

10.1109/WCICA.2006.1713744

Filename

1713744