Abstract
This study proposed a novel tracking algorithm for a mobile robot using modified CAMSHIFT and optical flow. CAMSHIFT algorithm is vulnerable to the lighting, brightness and speed of the object because it is based on the HSV color space model. To overcome the difference of light condition, the searching window of CAMSHIFT is set by SURF algorithm. Optical flow information is used to predict the position and velocity of the fast-moving object. The CAMSHIFT searching window in an image can be adjusted quickly. Furthermore, an ultra-sonic sensor is used to calculate the distance to an object. The proposed fusion algorithm shows superior performance in terms of accuracy, speed and reliability, compared with original SURF and CAMSIFT.
| Translated title of the contribution | Study on Object Tracking Using SURF, CAMSHIFT and Optical Flow for Mobile Robot |
|---|---|
| Original language | Korean |
| Pages (from-to) | 450-458 |
| Number of pages | 9 |
| Journal | 한국생산제조학회지 |
| Volume | 26 |
| Issue number | 5 |
| DOIs | |
| State | Published - Jul 2017 |