双目视觉模型移动目标跟踪系统  

Design and implementation of a binocular vision moving target tracking system

作　　者：张波[1] 刘冀伟[1] 崔朝辉[1] 王志良[1] 

机构地区：[1]北京科技大学信息工程学院,北京100083

出　　处：《智能系统学报》2010年第5期400-404,共5页CAAI Transactions on Intelligent Systems

基　　金：国家"863"计划资助项目(2007AA01Z160);国家自然科学基金资助项目(60903067);北京市重点学科建设资助项目(XK100080537)

摘　　要：为了使机器人能够对目标进行自主智能的跟踪,基于仿生学原理建立双目视觉模型,设计出四自由度的仿人眼颈跟踪系统,通过上位机与下位机的配合以及2台摄像机与4台直流电机,实现双目视觉移动目标跟踪系统.该系统通过双目摄像机对目标进行图像采集,由PC机对目标进行特征提取以及一系列处理后计算出目标的移动范围,将目标移动数据传输至下位机后通过PID控制算法平滑控制直流电机的运转方向与运转速度,从而对移动目标实现良好的跟踪性能.In order to allow robots to track a target autonomously and intelligently, a stereo vision model based on bionic principles was established, and a humanoid neck eye tracking system with four degrees of freedom was designed. Based on the above developments, a binocular vision moving target tracking system was produced by the upper and lower computers, as well as two cameras and four DC motors. This system captured images of the target through the binocular camera, and then the image processing and feature extraction was produced in a PC. There- fore, the target range of treatment could be calculated and sent to the lower computer, and the direction and run- ning speed of the DC motors was smoothly controlled through a PID control algorithm, finally tracking a moving target well.

关 键 词：智能机器人 双目视觉模型 移动目标跟踪 PID控制 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]