BEST: A real-time tracking method for scout robot

Author

Chen, Diansheng ; Bai, Feng ; Li, Peng ; Wang, Tianmiao

Author_Institution

Robot. Inst., Beihang Univ., Beijing, China

fYear

2009

fDate

10-15 Oct. 2009

Firstpage

1001

Lastpage

1006

Abstract

We propose a BEST (Background subtraction and Enhanced camShift Tracking) method for a scout robot tracking a moving object in real time. A modified back subtraction method based on time axis is used to segment the moving object in a complicated environment. The centroid and area are chosen as the feature to judge target. We proposed a novel method that combines Camshift, AWS (Adaptive Window Selecting method) and Kalman predicting algorithm together to track the detected object. Experiments based on a DSP image processing system in a scout robot indicate the feasibility and robustness of our method.

Keywords

Kalman filters; object detection; robot vision; BEST tracking method; Kalman predicting algorithm; adaptive window selecting method; back subtraction method; background subtraction and enhanced camshift tracking; image processing system; object detection; scout robot; Frequency domain analysis; Humans; Image motion analysis; Image segmentation; Intelligent robots; Object detection; Real time systems; Robot vision systems; Surveillance; Target tracking; Background subtraction; Camshift; Moving object; Pan/Tilt; Tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Conference_Location

St. Louis, MO

Print_ISBN

978-1-4244-3803-7

Electronic_ISBN

978-1-4244-3804-4

Type

conf

DOI

10.1109/IROS.2009.5354429

Filename

5354429