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| Received:December 11, 2009Revised:July 30, 2010 |
| 基金项目:This work was supported by the Program for New Century Excellent Talents in Universities, China, the Technical Plan Project of Liaoning Province and Dalian City, the National Natural Science fund of China (No. 51079013), the Higher Education Research Fund of Education Department, the Liaoning China (No. LT2010013), and the Fundamental Research Funds for the Central Universities (No. 2011QN122). |
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| Design and implementation of vision-based transport for a mobile robot via Kalman filter |
| Shuanghe YU,Yuqing CHEN,Jialu DU |
| (School of Information Science and Technology, Dalian Maritime University) |
| Abstract: |
| A vision-based scheme for object recognition and transport with a mobile robot is proposed in this paper. First, camera calibration is experimentally performed with Zhenyou Zhang’s method, and a distance measurement method with the monocular camera is presented and tested. Second, Kalman filtering algorithm is used to predict the movement of a target with HSI model as the input and the seed filling algorithm as the image segmentation approach. Finally, the motion control of the pan-tilt camera and mobile robot is designed to fulfill the tracking and transport task. The experiment results demonstrate the robust object recognition and fast tracking capabilities of the proposed scheme. |
| Key words: Mobile robot Pan-tilt camera, HSI model Kalman filtering |
