A real time object tracking approach for mobile robot visual servo control

Zhaoxiang Zhang; Ruhan Sa; Yunhong Wang

doi:10.1109/ACPR.2011.6166627

A real time object tracking approach for mobile robot visual servo control

Zhaoxiang Zhang^*
, Ruhan Sa
, Yunhong Wang

^*Corresponding author for this work

School of Computer Science and Engineering

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

A key problem of Image Based Visual Servo (IBVS) System is to track objects in image sequences. Thus, the tracking algorithm plays an important role in improving the efficiency of IBVS systems. In this paper, a novel tracking algorithm called Modified CamShift Guided Particle Filter (MCAMSGPF) is proposed, which interpolated Speeded-Up Robust Features (SURF) into the framework of conventional CamShift Guided Particle Filter (CAMSGPF) tracking method. This new algorithm outperforms conventional CAMSGPF and other baseline trackers with respect to tracking robustness in the clutter background of similar colors and occlusions. We also proposed a new system model to implement and test the new algorithm in a real time moving IBVS system, which is applied in a mobile robot with an on-board camera.

Original language	English
Title of host publication	1st Asian Conference on Pattern Recognition, ACPR 2011
Pages	500-504
Number of pages	5
DOIs	https://doi.org/10.1109/ACPR.2011.6166627
State	Published - 2011
Event	1st Asian Conference on Pattern Recognition, ACPR 2011 - Beijing, China Duration: 28 Nov 2011 → 28 Nov 2011

Publication series

Name	1st Asian Conference on Pattern Recognition, ACPR 2011

Conference

Conference	1st Asian Conference on Pattern Recognition, ACPR 2011
Country/Territory	China
City	Beijing
Period	28/11/11 → 28/11/11

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10.1109/ACPR.2011.6166627

Cite this

@inproceedings{f6a2402fe67a42e69146e871069c5245,

title = "A real time object tracking approach for mobile robot visual servo control",

abstract = "A key problem of Image Based Visual Servo (IBVS) System is to track objects in image sequences. Thus, the tracking algorithm plays an important role in improving the efficiency of IBVS systems. In this paper, a novel tracking algorithm called Modified CamShift Guided Particle Filter (MCAMSGPF) is proposed, which interpolated Speeded-Up Robust Features (SURF) into the framework of conventional CamShift Guided Particle Filter (CAMSGPF) tracking method. This new algorithm outperforms conventional CAMSGPF and other baseline trackers with respect to tracking robustness in the clutter background of similar colors and occlusions. We also proposed a new system model to implement and test the new algorithm in a real time moving IBVS system, which is applied in a mobile robot with an on-board camera.",

author = "Zhaoxiang Zhang and Ruhan Sa and Yunhong Wang",

year = "2011",

doi = "10.1109/ACPR.2011.6166627",

language = "英语",

isbn = "9781457701221",

series = "1st Asian Conference on Pattern Recognition, ACPR 2011",

pages = "500--504",

booktitle = "1st Asian Conference on Pattern Recognition, ACPR 2011",

note = "1st Asian Conference on Pattern Recognition, ACPR 2011 ; Conference date: 28-11-2011 Through 28-11-2011",

}

TY - GEN

T1 - A real time object tracking approach for mobile robot visual servo control

AU - Zhang, Zhaoxiang

AU - Sa, Ruhan

AU - Wang, Yunhong

PY - 2011

Y1 - 2011

N2 - A key problem of Image Based Visual Servo (IBVS) System is to track objects in image sequences. Thus, the tracking algorithm plays an important role in improving the efficiency of IBVS systems. In this paper, a novel tracking algorithm called Modified CamShift Guided Particle Filter (MCAMSGPF) is proposed, which interpolated Speeded-Up Robust Features (SURF) into the framework of conventional CamShift Guided Particle Filter (CAMSGPF) tracking method. This new algorithm outperforms conventional CAMSGPF and other baseline trackers with respect to tracking robustness in the clutter background of similar colors and occlusions. We also proposed a new system model to implement and test the new algorithm in a real time moving IBVS system, which is applied in a mobile robot with an on-board camera.

AB - A key problem of Image Based Visual Servo (IBVS) System is to track objects in image sequences. Thus, the tracking algorithm plays an important role in improving the efficiency of IBVS systems. In this paper, a novel tracking algorithm called Modified CamShift Guided Particle Filter (MCAMSGPF) is proposed, which interpolated Speeded-Up Robust Features (SURF) into the framework of conventional CamShift Guided Particle Filter (CAMSGPF) tracking method. This new algorithm outperforms conventional CAMSGPF and other baseline trackers with respect to tracking robustness in the clutter background of similar colors and occlusions. We also proposed a new system model to implement and test the new algorithm in a real time moving IBVS system, which is applied in a mobile robot with an on-board camera.

UR - https://www.scopus.com/pages/publications/84862895969

U2 - 10.1109/ACPR.2011.6166627

DO - 10.1109/ACPR.2011.6166627

M3 - 会议稿件

AN - SCOPUS:84862895969

SN - 9781457701221

T3 - 1st Asian Conference on Pattern Recognition, ACPR 2011

SP - 500

EP - 504

BT - 1st Asian Conference on Pattern Recognition, ACPR 2011

T2 - 1st Asian Conference on Pattern Recognition, ACPR 2011

Y2 - 28 November 2011 through 28 November 2011

ER -

A real time object tracking approach for mobile robot visual servo control

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