Design and implementation of vision-based transport for a mobile robot via Kalman filter |
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Authors: | Shuanghe YU Yuqing CHEN Jialu DU |
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Affiliation: | School of Information Science and Technology, Dalian Maritime University, Dalian Liaoning 116026, China |
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Abstract: | A vision-based scheme for object recognition and transport with a mobile robot is proposed in this paper. First, camera calibration is experimentally performed with Zhenyou Zhang’s method, and a distance measurement method with the monocular camera is presented and tested. Second, Kalman filtering algorithm is used to predict the movement of a target with HSI model as the input and the seed filling algorithm as the image segmentation approach. Finally, the motion control of the pan-tilt camera and mobile robot is designed to fulfill the tracking and transport task. The experiment results demonstrate the robust object recognition and fast tracking capabilities of the proposed scheme. |
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Keywords: | Mobile robot Pan-tilt camera, HSI model Kalman filtering |
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