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| 基于DSP的主动视觉系统 | |
| 引用本文： | 夏轩,刘华平,许伟明,孙富春.基于DSP的主动视觉系统[J].机器人,2012,34(3):354-362. |
| 作者姓名： | 夏轩 刘华平 许伟明 孙富春 |
| 作者单位： | 1. 上海理工大学光电信息与计算机工程学院,上海200093;清华大学计算机科学与技术系智能技术与系统国家重点实验室清华信息科技与技术国家实验室,北京100084 2. 清华大学计算机科学与技术系智能技术与系统国家重点实验室清华信息科技与技术国家实验室,北京,100084 3. 上海理工大学光电信息与计算机工程学院,上海,200093 |
| 基金项目： | 国家自然科学基金资助项目(61075027,90820304,91120011);国家973计划资助项目(G2007CB311003,2009CB724002);上海市研究生创新基金资助项目(JWCXSL1022);河北省自然科学基金资助项目(F2010001106) |
| 摘 要： | 为了提高目标检测的快速性与准确性,简化基于粒子滤波的目标跟踪算法中的直方图计算,提高检测和跟踪算法在基于DSP(数字信号处理器)的主动视觉系统上的运行速度,提出了一种基于DSP的机器人主动视觉系统.该系统通过改进的EMCV(embedded computer vision library)与启发式搜索方法,在DSP上实现了AdaBoost检测算法;利用增量式直方图计算算法实现粒子滤波中颜色直方图与边缘方向直方图的计算,将直方图融合到观测模型中,在DSP上实现并优化了目标跟踪算法.实验证实了该主动视觉系统中算法的快速性与系统的鲁棒性. |
| 关 键 词： | 主动视觉 目标检测 目标跟踪 AdaBoost 增量式直方图 粒子滤波 DSP |
DSP-based Active Vision System |
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| XIA Xuan , LIU Huaping , XU Weiming , SUN Fuchun.DSP-based Active Vision System[J].Robot,2012,34(3):354-362. | |
| Authors: | XIA Xuan LIU Huaping XU Weiming SUN Fuchun |
| Affiliation: | 1.School of Optical-Electrical and Computer Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China; 2.Tsinghua National Laboratory for Information Science and Technology,State Key Laboratory of Intelligent Technology and Systems, Department of Computer Science and Technology,Tsinghua University,Beijing 100084,China) |
| Abstract: | In order to improve target detection speed and accuracy,simplify particle filter based target tracking algorithm for histogram calculation,and improve the speed of detection and tracking algorithm in the DSP(digital signal processor-based active vision systems,a DSP-based active vision system is proposed.By improved the EMCV(Embedded Computer Vision Library) and heuristic search methods,the system implements the AdaBoost detection algorithm on the DSP.And in that system,the color histogram and edge orientation histogram in particle filter are calculated by using the incremental histogram calculation algorithm,the histogram is integrated into the observation model,and the target tracking algorithm is optimized on the DSP.The experiment proves the rapidity and the robustness of the proposed algorithm in the active vision system. |
| Keywords: | active vision target detection target tracking AdaBoost incremental histogram particle filter DSP(digital signal processor) |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |