基于多传感器多目标跟踪的机器人足球视觉系统  

Vision system in robot soccer based on multisensor-multitarget tracking

作　　者：张彦铎[1] 刘乐元[1] 

机构地区：[1]武汉化工学院计算机科学与工程学院,湖北武汉430073

出　　处：《哈尔滨工业大学学报》2005年第7期909-911,共3页Journal of Harbin Institute of Technology

基　　金：湖北省教育厅科学研究重大资助项目(200202003);湖北省优秀中青年创新团队资助项目.

摘　　要：为了适应机器人足球视觉系统图像采集设备从单个到多个的改变,提高系统的跟踪成功率和速度,以信息融合技术为基本思路,提出了一种基于多传感器多目标跟踪的半自主足球机器人视觉跟踪方法.各跟踪模块对覆盖区域的目标进行航迹关联、滤波后再对各传感器信息进行融合得到所有目标单一的航迹.实验表明,该方法具有简单、有效,满足系统实时性要求等特点.A tracking approach based on multisensor-multitarget tracking of the basic theory of information fusion is introduced to fit the change from singlesensor to multisensor of FIRA MiroSot game's vision system, and to improve the reliability and the processing speed of the system. After track correlation and filtering for every senor data, the tracks of target for every sensor are obtained. An information fusion method for all these target tracks is presented. Experimental results show that the method is succinct and effective.

关 键 词：多传感器多目标跟踪 信息融合 机器人足球 视觉系统 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]