引用本文:苑晶,刘钢墩,孙沁璇.激光与单目视觉融合的移动机器人运动目标跟踪[J].控制理论与应用,2016,33(2):196~204.[点击复制]
YUAN Jing,LIU Gang-dun,SUN Qin-xuan.Moving target tracking of mobile robots with fusion of laser scanner and monocular camera[J].Control Theory and Technology,2016,33(2):196~204.[点击复制]
激光与单目视觉融合的移动机器人运动目标跟踪
Moving target tracking of mobile robots with fusion of laser scanner and monocular camera
摘要点击 4305  全文点击 3357  投稿时间：2015-01-28  修订日期：2015-08-18
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DOI编号  10.7641/CTA.2016.50085
  2016,33(2):196-204
中文关键词  移动机器人  目标跟踪  激光扫描仪  单目摄像头
英文关键词  mobile robots  target tracking  laser scanner  monocular camera
基金项目  国家自然科学基金资助项目(61175085, 61175083, 61573196), 天津市自然科学基金项目(15JCYBJC18800)资助.
作者单位E-mail
苑晶* 南开大学计算机与控制工程学院 nkyuanjing@gmail.com 
刘钢墩 南开大学计算机与控制工程学院  
孙沁璇 南开大学计算机与控制工程学院  
中文摘要
      针对室内环境下的移动机器人运动目标跟踪问题, 提出一种基于激光与单目视觉传感信息融合的机器人 定位和目标运动估计方法. 首先, 利用激光传感信息实现对目标的检测, 并完成机器人定位与环境建图; 然后, 设计 一种基于单目视觉传感器的目标位置估计算法, 获得目标的距离和角度信息; 为了实现两类传感信息的有效融合, 将激光与单目视觉进行联合标定, 得到二者的相对位姿关系, 基于此, 将激光与单目视觉提取的目标距离和角度通 过具有最优重要性函数和权重的粒子滤波器进行融合, 实现对目标运动状态的准确估计. 实验结果表明该方法具有 良好的跟踪性能.
英文摘要
      Moving target tracking with mobile robots in the indoor environments is addressed. A method to localize the robot and estimate the moving target’s states is proposed based on information fusion of a laser scanner and a monocular camera. First, moving target detection, robot self-localization and map building of the environment are simultaneously accomplished using the laser data. Then, a monocular vision-based scheme to detect the target’s location is developed for measuring the range and bearing of the target. To achieve effective fusion between two kinds of sensor information, the laser scanner and the monocular camera are jointly calibrated to obtain the relative coordinate transform between them. Finally, a particle filter (PF) with the optimal importance function and importance weights is designed to fuse the measurements of the target’s range and bearing from the laser scanner and the monocular camera. The experimental results show that the proposed method can achieve satisfactory tracking performances.