Kalman filter based vision prediction and object tracking method and application

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Kalman filter based vision prediction and object tracking method and application

Article | 更新时间：2020-08-12

- Kalman filter based vision prediction and object tracking method and application
- Optics and Precision Engineering Vol. 16, Issue 5, Pages: 937-942(2008)
- 作者机构：
  
  上海大学机电工程与自动化学院
- 作者简介：
- 基金信息：
- DOI：
  CLC：
- Received：08 October 2007，
  
  Revised：20 November 2007，
  
  Published Online：22 May 2008，
  
  Published：22 May 2008
- 稿件说明：
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赵其杰,屠大维,高健,黄志华. 基于Kalman滤波的视觉预测目标跟踪及其应用[J]. 光学精密工程, 2008,16(5):937-942

Kalman filter based vision prediction and object tracking method and application[J]. Optics and precision engineering, 2008, 16(5): 937-942.
赵其杰,屠大维,高健,黄志华. 基于Kalman滤波的视觉预测目标跟踪及其应用[J]. 光学精密工程, 2008,16(5):937-942 DOI：

Kalman filter based vision prediction and object tracking method and application[J]. Optics and precision engineering, 2008, 16(5): 937-942. DOI：

摘要

为了使得护理服务机器人实现一种平滑、柔顺的任务执行过程，建立了基于图像处理的视觉信息感知的几何模型，提出一种基于Kalman滤波预测估计的视觉信息感知方法，并据Kalman滤波理论建立了对包括机器人终端手抓等目标状态进行预测跟踪的模型，同时利用建立的模型在护理服务机器人系统中进行了试验研究，试验结果表明所提出的方法可以较好的对目标状态进行预测估计，通过“预测—校正”可以实现一种快速准确的视觉信息感知。该方法应用在护理服务机器人系统中可以减少视觉通道反馈信息的时间滞后问题，增强了人机对话和信息感知能力。

Abstract

In order to make healthcare service robots fluently and flexibly complete some tasks

geometry model has been set up to detect vision information by image processing

and a kind of vision information predict and process method which is based on kalman filter

has been put forward

moreover

a set of predictive and object tracking model has also been provided in light of kalman filter theory. some experiments have been done with these models in a service robot system

and the experiment results show that the object status can been accurately predicted by the provided method

furthermore

the vision information can be quickly detected by prediction and modification with the models and methods. On the other hand

the time lag for vision information feedback can be decreased by using the provided method in service robot system

so the communication between human and robot takes place more fluently.

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Related Author

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Related Institution

School of Communication and Information Engineering， Xi’an University of Posts and Telecommunications

College of Electrical and Control Engineering， Xi’an University of Science and Technology

University of Chinese Academy of Sciences

Changchun Institute of Optics， Fine Mechanics and Physics Chinese Academy of Sciences

College of Electronic Information and Automation, Civil Aviation University of China

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