CAJ | 학술논문

针对单目视觉下移动机器人运动目标跟踪任务，提出了一种基于空间映射的背景补偿方法，通过读取机器人的实时运动状态来计算图像空间的背景补偿量，具有较高的精度和较快的响应速度。在此基础上，利用距离函数加权的方法，提出了综合视觉伺服与局部距离传感器混合导航的跟踪方法。通过实验，该方法能够满足跟踪任务要求，具有较好的跟踪效果。
침대단목시각하이동궤기인운동목표근종임무，제출료일충기우공간영사적배경보상방법，통과독취궤기인적실시운동상태래계산도상공간적배경보상량，구유교고적정도화교쾌적향응속도。재차기출상，이용거리함수가권적방법，제출료종합시각사복여국부거리전감기혼합도항적근종방법。통과실험，해방법능구만족근종임무요구，구유교호적근종효과。
In allusion to monocular vision for moving target tracking in mobile robotics tasks, we propose a compensation method based on space mapping of the moving background. We can calculate the background compensation amount in image space by reading the motion state of mobile robot in real time, which has higher accuracy and faster response. Based on this, by using the weighted distance function, we propose a hybrid tracking method which is composited by visual servo and distance navigation. Experimental results showed that this method can meet the needs of tracking tasks, and has batter better tracking results.