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基于双目视觉的运动物体实时跟踪与测距
引用本文:祝琨,杨唐文,阮秋琦,王红波,韩建达.基于双目视觉的运动物体实时跟踪与测距[J].机器人,2009,31(4):1.
作者姓名:祝琨  杨唐文  阮秋琦  王红波  韩建达
作者单位:1. 北京交通大学计算机与信息技术学院,北京,100044
2. 中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁,沈阳,110016
基金项目:北京交通大学科技基金,机器入学国家重点实验室基金 
摘    要:利用双目视觉信息系统实现三维空间中运动物体实时跟踪与测距.当运动目标超出视野范围时,可通 过控制摄像机云台转动搜索目标.此外,还研究了在摄像头运动情况下,无需重新标定,即可实现运动物体测距的 算法.这里,自适应背景建模法与CamShift 算法用于实现运动物体的辨识与跟踪.实验结果证明了所提出的算法能 够有效地追踪物体,并同时准确地测量它的三维位置.

关 键 词:移动机器人  目标跟踪  三维测距  双目视觉系统

Real-Time Tracking and Measuring of Moving Objects Based on Binocular Vision
ZHU Kun,YANG Tang-wen,RUAN Qiu-qi,WANG Hong-bo,HAN Jian-da.Real-Time Tracking and Measuring of Moving Objects Based on Binocular Vision[J].Robot,2009,31(4):1.
Authors:ZHU Kun  YANG Tang-wen  RUAN Qiu-qi  WANG Hong-bo  HAN Jian-da
Affiliation:1.School of Computer and Information Technology;Beijing Jiaotong University;Beijing 100044;China;2.State Key Laboratory of Robotics;Shenyang Institute of Automation;Chinese Academy of Sciences;Shenyang 110016;China
Abstract:A binocular camera information system is used to track and measure a moving object in real time in 3D space. As the moving object goes out of the field of view,pan&tilt of cameras is turned to search the object.Furthermore,an arithmetic without recalibration for moving object distance measuring is studied,in the condition of camera moving.Herein adaptive background modelling algorithm and CamShift algorithm are used respectively to identify and track moving objects. Experimental results are presented to dem...
Keywords:mobile robot  object tracking  3D measurement  binocular camera system
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