TY - GEN
T1 - Dynamic object tracing method for mobile robot by fusing visual features
AU - Kim, Jong Hyeong
AU - Jang, Kyung Jae
AU - Jang, Jae Won
N1 - Publisher Copyright:
© 2017 The Society of Instrument and Control Engineers - SICE.
PY - 2017/11/10
Y1 - 2017/11/10
N2 - This paper proposes a novel method of tracing dynamic objects for indoor mobile robot by fusing visual features. The proposed tracking algorithm is a kind of improved CAMSHIFT algorithm combined with SURF, optical flow and ultra-sonic data, to enhance the tracking capability. Since CAMSHIFT algorithm is based HSV color space model, it is weak on strong lighting, abrupt change of light and fast-moving object. Also, CAMSHIFT doesn't consider the object's moving direction and velocity information when it sets the search window for tracking. To set a searching window for tracking, the visual features of SURF, optical flow and ultra-sonic data are used. So, we can analyse the size, moving direction, velocity of the fast-moving objects. Experimental tests prove the improved efficiency performance compared with the conventional CAMSHIFT only.
AB - This paper proposes a novel method of tracing dynamic objects for indoor mobile robot by fusing visual features. The proposed tracking algorithm is a kind of improved CAMSHIFT algorithm combined with SURF, optical flow and ultra-sonic data, to enhance the tracking capability. Since CAMSHIFT algorithm is based HSV color space model, it is weak on strong lighting, abrupt change of light and fast-moving object. Also, CAMSHIFT doesn't consider the object's moving direction and velocity information when it sets the search window for tracking. To set a searching window for tracking, the visual features of SURF, optical flow and ultra-sonic data are used. So, we can analyse the size, moving direction, velocity of the fast-moving objects. Experimental tests prove the improved efficiency performance compared with the conventional CAMSHIFT only.
KW - CAMSHIFT
KW - Object Tracing
KW - Optical Flow
KW - SURF
KW - Ultra-Sonic
UR - http://www.scopus.com/inward/record.url?scp=85044227773&partnerID=8YFLogxK
U2 - 10.23919/SICE.2017.8105776
DO - 10.23919/SICE.2017.8105776
M3 - Conference contribution
AN - SCOPUS:85044227773
T3 - 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
SP - 862
EP - 864
BT - 2017 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 56th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2017
Y2 - 19 September 2017 through 22 September 2017
ER -