Design and implementation of vision-based transport for a mobile robot via Kalman filter

作者：Yu Shuanghe^*; Chen Yuqing; Du Jialu

来源：Journal of Control Theory and Applications, 2011, 9(4): 529-534.

DOI：10.1007/s11768-011-9291-3

• Camera calibration
• Fast-Tracking
• Kalman filtering algorithms
• Kalman-filtering
• Monocular cameras
• Pan-tilt camera
• Robust object recognition
• Seed filling
• Vision based

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.

• 出版日期2011