Vision-Based Target-Following Guider for Mobile Robot

doi:10.1109/TIE.2019.2893829

CORC > 自动化研究所 > 中国科学院自动化研究所 > 精密感知与控制研究中心

	Vision-Based Target-Following Guider for Mobile Robot
	Zhang, Mingyi1,2 ; Liu, Xilong1,2 ; Xu, De1,2 ; Cao, Zhiqiang3 ; Yu, Junzhi3
刊名	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2019-12-01
卷号	66 期号:12 页码:9360-9371
关键词	Mobile robot target following target redetection visual servo
ISSN号	0278-0046
DOI	10.1109/TIE.2019.2893829
通讯作者	Liu, Xilong(xilong.liu@ia.ac.cn)
英文摘要	A vision-based target-following guider for mobile robot is presented in this paper. It consists of three parts: the visual tracking part; the target redetection part; and the visual servo part. In the visual tracking part, the target contour band is proposed for irregular sampling, which can improve the performance of the correlation filter-based methods. In the target redetection part, potential targets are searched by an offline trained detector. Then an online training module is used to determine the real target and achieve accurate positioning. The interaction matrix of point features is used in the visual servo part for motion control to maintain the relative pose between the target and the robot. The visual tracking part and the target redetection part are tested respectively on many videos, which proved to work well. To show the effectiveness of our method, some state-of-the-art methods are also tested. The target-following guider is evaluated on mobile robots. In our experiments, the robot can robustly follow the human target over a long distance, which strongly proved the validity of our target-following guider.
资助项目	National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[61421004] ; National Natural Science Foundation of China[61503376] ; National Natural Science Foundation of China[61733004] ; Beijing Natural Science Foundation[4161002]
WOS关键词	OBJECT TRACKING
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000480309400024
资助机构	National Natural Science Foundation of China ; Beijing Natural Science Foundation
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/23927]
专题	自动化研究所_精密感知与控制研究中心
通讯作者	Liu, Xilong
作者单位	1.Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Zhang, Mingyi,Liu, Xilong,Xu, De,et al. Vision-Based Target-Following Guider for Mobile Robot[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2019,66(12):9360-9371.
APA	Zhang, Mingyi,Liu, Xilong,Xu, De,Cao, Zhiqiang,&Yu, Junzhi.(2019).Vision-Based Target-Following Guider for Mobile Robot.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,66(12),9360-9371.
MLA	Zhang, Mingyi,et al."Vision-Based Target-Following Guider for Mobile Robot".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 66.12(2019):9360-9371.