机器视觉跟踪系统开发  

Development of Machine Vision Tracking System Development

作　　者：王涛[1] 闫娟[1] 陈高攀[1] 杜太顺 

机构地区：[1]上海工程技术大学机械工程学院,上海201600

出　　处：《机械工程师》2015年第10期206-208,共3页Mechanical Engineer

基　　金：上海工程技术大学大学生重点科研平台创新训练项目(cz1405017)

摘　　要：研究视觉跟踪系统,以三轴运动控制机床为研究平台,结合CCD相机、运动控制卡等硬件,构建了一个工业机器人视觉跟踪系统。通过混合高斯模型进行背景建模以区分动态物体和静态场景以及对动态物体的追踪;通过相机标定、阀值分割、边缘检测、形心标定进行对目标物体的识别和定位;通过上位机控制步进电机向运动控制器发射脉冲以实现三轴平台的运动,控制机械手对动态目标物体进行抓取。This paper builds a industrial robot visual traeking system in which the research platform is consisted of three axis motion eontrol of machine tool, CCD camera and motion control card. To complete the positioning and tracking of moving target, the whole research includes three parts. Firstly, we study background modeling based on Gaussian Mixture Model to distinguish dynamic object and static scene. Secondly, we figure out target object centroid and positioning through the camera calibration, threshold segmentation, edge detection, calibration. Finally we realize the three axes platform modon, and control manipulator to grab the dynamic target objects via motion controller which use PC to control stepping motor firing pulse.

关 键 词：机器视觉 视觉跟踪 图像识别 目标跟踪定位 

分 类 号：TP224[自动化与计算机技术—检测技术与自动化装置]