Robot visual guide with Fourier-Mellin based visual tracking  

作　　者：Chao PENG Danhua CAO Yubin WU Qun YANG 

机构地区：[1]School of Optical and Electronic Information,Huazhong University of Science and Technology,Wuhan 430074,China

出　　处：《Frontiers of Optoelectronics》2019年第4期413-421,共9页光电子前沿（英文版）

摘　　要：Robot vision guide is an important research area in industrial automation,and image-based target pose estimation is one of the most challenging problems.We focus on target pose estimation and present a solution based on the binocular stereo vision in this paper.To improve the robustness and speed of pose estimation,we propose a novel visual tracking algorithm based on Fourier-Mellin transform to extract the target region.We evaluate the proposed tracking algorithm on online tracking benchmark-50(OTB-50)and the results show that it outperforms other lightweight trackers,especially when the target is rotated or scaled.The final experiment proves that the improved pose estimation approach can achieve a position accuracy of 1.84 mm and a speed of 7 FPS(frames per second).Besides,this approach is robust to the variances of illumination and can work well in the range of 250-700 lux.

关 键 词：robot visual guide target pose estimation stereo vision visual tracking Fourier-Mellin transform(FMT) 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]