基于ROS的移动机器人视觉跟随系统设计

视觉跟随是机器人领域中一个比较重要的部分,可以应用在仓储搬运、安防、军事等多种领域。由于传统算法存在当背景比较复杂的情况下无法有效跟踪目标、对跟踪目标和外部环境的分辨率要求高所以只能进行辅助跟踪、计算量大无法满足实时性要求等问题。本文采用KCF算法设计,设计了基于ROS的移动机器人视觉跟随系统,利用循环矩阵在傅里叶空间可对角化的性质,从而使得矩阵运算被转化成元素的点乘,减少了计算量从而提高了运算速度,满足了算法的实时性要求。经过实验和数据分析,本移动机器人可以实时有效的跟随指定目标实现视觉跟随功能。

Design of Visual Following System of Mobile Robot Based on ROS

Visual following is an important part in the field of robot,which can be used in many fields such as storage and transportation,security,military and so on.Because the traditional algorithm can not track the target effectively when the background is complex,the resolution of the target and the external environment is high,so it can only do auxiliary tracking,and the computation is too large to meet the real-time requirement.In this paper,a ROS-based mobile robot visual following system is designed by using KCF Algorithm,which makes use of the property that circulant matrix can be diagonalized in Fourier space,so that the matrix operation can be transformed into the dot product of elements the computation is reduced and the computation speed is increased,which can meet the real-time requirement of the algorithm.Through experiments and data analysis,the mobile robot can follow the specified target effectively in real-time to achieve visual follow function.