Navigation method for reconnaissance robot based on vision object tracking

作者：Bao Jiatong; Song Aiguo^*; Tang Hongru; Xiong Pengwen

来源：Journal of Southeast University(Natural Science Edition), 2012, 42(3): 399-405.

DOI：10.3969/j.issn.1001-0505.2012.03.002

• Autonomous navigation
• Behavior-based robots
• Coarse-to-fine
• Extraction algorithms
• Feature matching
• Image regions
• Local invariant features
• Mission execution
• Navigation methods
• Object Tracking
• Object tracking algorithm
• Reconnaissance robot
• Robot navigation
• Target location
• Vision based navigation
• Vision guidance

Aiming at the problem of autonomous navigation of the reconnaissance robot in unknown environments, a navigation method for reconnaissance robots based on vision object tracking is proposed. First, the binary robust independent elementary features (BRIEF) extraction algorithm is employed to detect and describe the local invariant feature points in the image region of vision object to track. Based on a fast feature matching procedure, a coarse-to-fine target location method is proposed for real-time and accurate object tracking in the robot navigation process. Secondly, the autonomous navigation mission based on object tracking is decomposed into several behaviors in some of which the object tracking algorithm is integrated. Finally, the macro behavior-based robot mission execution mechanism is used to control the robot moving towards the vision target autonomously. Experimental results show that the proposed approach makes the reconnaissance robot accurately track the vision guidance object in real-time, and perform the target oriented autonomous navigation task reliably.

• 出版日期2012
• 单位东南大学