A combined object-tracking algorithm for omni-directional vision-based AGV navigation  

作　　者：元伟 孙杰 曹作良 田静 杨明 

机构地区：[1]School of Computer and Communication Engineering,Tianjin University of Technology [2]School of Electronic Information Engineering,Tianjin University of Technology [3]School of Mechanical Engineering,Tianjin University of Technology

出　　处：《Optoelectronics Letters》2010年第2期137-139,共3页光电子快报（英文版）

基　　金：supported by the National High Technology Research and Development Program of China (No.2007AA04Z229);the International Science and Technology Collaboration Project(No.2006DFA12410)

摘　　要：A combined object-tracking algorithm that realizes the realtime tracking of the selected object through the omni-directional vision with a fisheye lens is presented.The new method combines the modified continuously adaptive mean shift algorithm with the Kalman filter method.With the proposed method,the object-tracking problem when the object reappears after being sheltered completely or moving out of the field of view is solved.The experimental results perform well,and the algorithm proposed here improves the robustness and accuracy of the tracking in the omni-directional vision.A combined object-tracking algorithm that realizes the realtime tracking of the selected object through the omnidirectional vision with a fisheye lens is presented. The new method combines the modified continuously adaptive mean shift algorithm with the Kalman filter method. With the proposed method, the object-tracking problem when the object reappears after being sheltered completely or moving out of the field of view is solved. The experimental results perform well, and the algorithm proposed here improves the robustness and accuracy of the tracking in the omni-directional vision.

关 键 词：全方位视觉 跟踪算法 自动导引车 合并 导航 卡尔曼滤波法 实时跟踪 鱼眼镜头 

分 类 号：TN966[电子电信—信号与信息处理]