基于视觉目标跟踪的跟随型伙伴机器人设计  

Design of a Following Partner Robot Based on Visual Object Tracking

作　　者：刘心雨 叶雪军 邸忆 周国源 唐建宇 LIU Xinyu;YE Xuejun;DI Yi;ZHOU Guoyuan;TANG Jianyu(School of Information and Communication Engineering,Hubei University of Economics,Wuhan Hubei 430205,China)

机构地区：[1]湖北经济学院信息与通信工程学院,湖北武汉430205

出　　处：《信息与电脑》2022年第7期180-183,共4页Information & Computer

基　　金：湖北省自然科学基金项目(项目编号:2019CFB778)。

摘　　要：本文基于计算机视觉的目标跟踪算法实现了一个跟随型伙伴机器人(以下简称机器人)。其硬件系统基于ARM Cortex-A8平台,同时用51单片机辅助控制机器人。在机器人行进过程中,能够实现及时避障以及避障后跟踪目标的找回,同时具备走失报警和自主重定位功能。较为鲁棒的跟踪效果实现,为将来进一步开发设计步行安全的贴身检测和报警功能打下了良好的基础,可以极大提高步行出行的安全性和体验效果。This design uses object tracking algorithms in computer vision to implement the following Partner Robot(hereinafter referred to as the robot), the overall design is based on ARM Cortex-A8 platform which is aided by 51 single-chip micro-computer.The robot can achieve obstacle avoidance and retrieve the tracked object after obstacle avoidance in the process of marching.At the same time it also has the function of lost alarm and automatic reposition. The achievement of better tracking effect lays a good foundation for further development of personal walking safety detection and alarm, which can greatly improve the safety and experience of pedestrian travel.

关 键 词：计算机视觉 目标跟踪 ARM Cortex-A8 51单片机 自主重定位 贴身检测 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]