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 -