SURF, CAMSHIFT와 광류를 이용한 모바일 로봇의 객체 추종에 관한 연구 (Study on Object Tracking Using SURF, CAMSHIFT and Optical Flow for Mobile Robot)

서지정보

· 발행기관 : 한국생산제조학회
· 수록지 정보 : 한국생산제조학회지 / 26권 / 5호 / 450 ~ 458페이지
· 저자명 : 김종형, 장경재, 임승용

초록

This study proposed a novel tracking algorithm for a mobile robot using modified CAMSHIFT and optical flow. CAMSHIFT algorithm is vulnerable to the lighting, brightness and speed of the object because it is based on the HSV color space model. To overcome the difference of light condition, the searching window of CAMSHIFT is set by SURF algorithm. Optical flow information is used to predict the position and velocity of the fast-moving object. The CAMSHIFT searching window in an image can be adjusted quickly. Furthermore, an ultra-sonic sensor is used to calculate the distance to an object. The proposed fusion algorithm shows superior performance in terms of accuracy, speed and reliability, compared with original SURF and CAMSIFT.

영어초록

This study proposed a novel tracking algorithm for a mobile robot using modified CAMSHIFT and optical flow. CAMSHIFT algorithm is vulnerable to the lighting, brightness and speed of the object because it is based on the HSV color space model. To overcome the difference of light condition, the searching window of CAMSHIFT is set by SURF algorithm. Optical flow information is used to predict the position and velocity of the fast-moving object. The CAMSHIFT searching window in an image can be adjusted quickly. Furthermore, an ultra-sonic sensor is used to calculate the distance to an object. The proposed fusion algorithm shows superior performance in terms of accuracy, speed and reliability, compared with original SURF and CAMSIFT.

참고자료

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