A real time object tracking approach for mobile robot visual servo control

Author

Zhang, Zhaoxiang ; Sa, Ruhan ; Wang, Yunhong

Author_Institution

Lab. of Intell. Recognition & Image Process., Beihang Univ., Beijing, China

fYear

2011

fDate

28-28 Nov. 2011

Firstpage

500

Lastpage

504

Abstract

A key problem of Image Based Visual Servo (IBVS) System is to track objects in image sequences. Thus, the tracking algorithm plays an important role in improving the efficiency of IBVS systems. In this paper, a novel tracking algorithm called Modified CamShift Guided Particle Filter (MCAMSGPF) is proposed, which interpolated Speeded-Up Robust Features (SURF) into the framework of conventional CamShift Guided Particle Filter (CAMSGPF) tracking method. This new algorithm outperforms conventional CAMSGPF and other baseline trackers with respect to tracking robustness in the clutter background of similar colors and occlusions. We also proposed a new system model to implement and test the new algorithm in a real time moving IBVS system, which is applied in a mobile robot with an on-board camera.

Keywords

cameras; feature extraction; image sequences; mobile robots; object tracking; particle filtering (numerical methods); robot vision; IBVS system; MCAMSGPF algorithm; SURF feature; baseline tracker; clutter background; image based visual servo system; image sequences; mobile robot visual servo control; modified camshift guided particle filter; occlusion; on-board camera; realtime object tracking approach; speeded-up robust features; Cameras; Clutter; Image color analysis; Robots; Robustness; Target tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Pattern Recognition (ACPR), 2011 First Asian Conference on

Conference_Location

Beijing

Print_ISBN

978-1-4577-0122-1

Type

conf

DOI

10.1109/ACPR.2011.6166627

Filename

6166627