Qualitative VisionBased Mobile Robot Navigation基于定性视觉的移动机器人导航.pptVIP

Person Following with a Mobile RobotUsing Binocular Feature-Based Tracking Zhichao Chen and Stanley T. Birchfield Dept. of Electrical and Computer Engineering Clemson University Clemson, South Carolina USA Motivation Goal: Enable a mobile robot to follow a person in a cluttered indoor environment by vision. Previous approaches: Appearance properties: color, edges. [Sidenbladh et al. 1999, Tarokh and Ferrari 2003, Kwon et al. 2005] Person has different color from background or faces camera. Lighting changes. Optical flow. [Piaggio et al 1998, Chivilò et al. 2004] Drift as the person moves with out-of-plane rotation Dense stereo and odometry. [Beymer and Konolige 2001] difficult to predict the movement of the robot (uneven surfaces, slippage in the wheels). Our approach System overview Detect 3D features of the scene Kanade-Lucas-Tomasi (KLT) feature tracker Automatically selects 2D features using eigenvalues of 2x2 gradient covariance matrix Automatically matching features by minimizing sum of squared differences (SSD) between left and right images. Augmented with gain and bias to handle lighting changes Open-source implementation Detect 3D features of the scene ( Cont. ) Features are selected in the left image IL and matched in the right image IR. System overview Overview of Removing Background Remove BackgroundStep 1: Using the known disparity Discard features for which where is the known disparity of the person in the previous frame, and is the disparity of a feature at time t . Remove BackgroundStep 2: Using background motion Estimate the motion of the background by computing a 4 × 4 projective transformation matrix H between two image frames at times t and t + 1: Remove BackgroundStep 3: Using person motion Similar to step 2, the motion model of the person is calculated. The size of the person group should be the biggest. The centroid of the person group should be proximate to the previous location of the person.