引用本文:庄严,王健,王伟.扩展2维环境中的移动机器人多人体目标跟踪[J].控制理论与应用,2009,26(11):1204~1210.[点击复制]
Zhuang Yan,WANG Jian,WANG Wei.Multiple people tracking for mobile robots in extended two-dimensional environment[J].Control Theory and Technology,2009,26(11):1204~1210.[点击复制]
扩展2维环境中的移动机器人多人体目标跟踪
Multiple people tracking for mobile robots in extended two-dimensional environment
摘要点击 1959  全文点击 1116  投稿时间：2008-09-01  修订日期：2009-03-01
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DOI编号  10.7641/j.issn.1000-8152.2009.11.CCTA080915
  2009,26(11):1204-1210
中文关键词  扩展2维环境  多人体目标跟踪  移动机器人
英文关键词  extended two-dimensional environment  multiple human-targets tracking  mobile robot
基金项目  国家自然科学基金资助项目(60605023, 60775048); 国家“863”计划资助项目(2007AA04Z257); 辽宁省教育厅高等学校科技研究项目.
作者单位E-mail
庄严* 大连理工大学信息与控制研究中心 zhuang@dlut.edu.cn 
王健 大连理工大学信息与控制研究中心  
王伟 大连理工大学信息与控制研究中心  
中文摘要
      移动机器人如何自主实现人体目标的检测与跟踪是服务机器人研究领域中的关键问题之一. 在深入分析单目视觉和激光测距特性的基础上, 文章首先针对室内场景进行扩展2维环境建模研究, 并提出在该环境下的人体目标分段模型构建与自主辨识方法. 为了有效实现对多个人体目标的同时跟踪, 本文提出了一种基于非恒速运动模型和卡尔曼滤波对多人体目标进行有效匹配与跟踪的方法. 实验表明本文所提方法能有效的克服目标旋转、部分遮挡和重叠以及光线明暗变化给人体目标跟踪带来的影响, 具有较好的鲁棒性和实用性.
英文摘要
      The autonomous human-target identification and tracking is a key issue in service robotics. Human body is a special type of non-rigid target for which there are many environmental factors constraining the application of target tracking. Based on the monocular vision and laser scanning, we develop a practical technique to incorporate the extended two-dimensional environment description with the indoor environment modeling of a mobile robot, constituting the basis for human target identification. In order to adapt this model to the target rotation, shielding and overlapping, a method based on the target color distribution model and Kalman filter is used to improve the multiple people tracking, in which the target initialization is implemented by a real-time laser scanning data processing algorithm. A series of experiment results with a further experiment data analysis show the validity and practicability of this method; it also meets the requirements of target rotation, partial shielding and overlapping in practical application.