移动机器人检测与跟踪系统的研究与设计

从智能控制与模式识别方法和传统控制理论相结合的思想出发，提出了一种自主移动机器人对运动目标检测和自动跟踪的识别与控制方法.建立了基于连续图像帧差分和二次帧差分的改进的图像HSI差分模型，给出了运动目标的特征分析和计算方法.通过特征匹配识别所需跟踪目标的区域，采用Kalman预报器对运动目标状态进行一步预测估计和两步增量式跟踪，可以快速平滑地实现移动机器人对运动目标的跟踪驱动控制.以移动机器人对汽车桩考的全过程进行监控为例，给出了移动机器人视觉检测识别和跟踪控制系统在汽车桩考中的应用.

Research and design of detecting and tracking system for mobile robot

Combing methods of intelligence control and pattern recognition and traditional control theories,an approach of recognition and control was proposed to detect and track moving objects by robot.An improved HSI image difference model based on sequences image difference and second image difference was presented.The feature analysis and figure of moving objects were defined to recognize the area of objects.The moving objects state forecast and two steps increment tracking algorithm based on Kalman filter were used to drive the mobile robot to track moving objects quickly and smoothly.Taking the supervision of the whole process of automobile stake as an example,application of vision based detecting and tracking system of mobile robot was illustrated.