Robot visual design with the panorama synthesis function.docVIP

Robot visual design with the panorama synthesis function 　　（2.School of Information Science and Technology , Tsinghua University, Beijing 100084,China） 　　Abstract. Panorama synthesis is basis of the target tracking. Through the synthesis of panorama, can enlarge the visual range to capture for the cameras, in the big background, the suspicious target which needs to be tracked are more easily detected, then selects the target, and Tracks it. In the existing target tracking of robot integrated machine, adds panorama synthesis function and the suspicious target selection function, the target tracking runs only on selected target, make the tracking more targeted. In the Panorama synthesis module of the present system, there are two ways to obtain video stream, that is real-time image stream from Cameras and the local AVI video file. Through the algorithm to judge the position relationship between two adjacent frames, finishes the image stitching, and displays panorama of the in the user interface in real time. By a particular target selection from users, complete moving object detection and tracking in motion camera environment. After the test, the system can meet the general needs of application oriented robot visual. 　　Key words: panorama; synthetic algorithm; robot integrated machine; target tracking; interaction 　　1.Introduction 　　In some fields, wide view and high resolution images or video is becoming more and more important, Such as structure of panoramic view in photographic surveying, background reconstruction technique in the field of video coding, Realization of panoramic video monitoring system and virtual environment construction in virtual display technology. In order to obtain a wide view scene image, people must by adjusting the camera focal length or the use of special equipment (Panorama wide-angle or fish-eye lens) to uptake in intact scene, but it acquired relatively low resolution panoramic photo, therefore, people used image stitching tech