基于显微视觉的目标识别与跟踪算法分析-analysis of target identification and tracking algorithm based on microscopic vision.docxVIP

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基于显微视觉的目标识别与跟踪算法分析-analysis of target identification and tracking algorithm based on microscopic vision.docx

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基于显微视觉的目标识别与跟踪算法分析-analysis of target identification and tracking algorithm based on microscopic vision

华中科技大学硕士学位论文 II Abstract Micromanipulation robot is a robot system which often works in a very tiny space, and can do very precise operation, which owns bright application prospect in many areas, such as biomedicine, new material preparation, integrated circuit manufacture, and so on. As a main control method in micromanipulation robot system, micro visual servo now becomes a hot issue during related research areas. In this paper, we’ll concentrate in research about micro visual servo, including target recognition, and visual servo tracking algorithm. In research on target recognition from micro visual image, this paper firstly ensure cavity as the main point in detection based on the specific characteristic about the targets in micromanipulation system. After overall consideration about some nowadays popular image object detection algorithms, we selected the method based on feature matching. And then, we employed a quietly new approach named ORB to extract the features of the images, and we demonstrated the method that we adopted owned an excellent accuracy and real-time property. After that, we developed the study on visual servo tracking algorithm. At first, we analysed the advantage and weakness of standard Kalman filter and conventional adaptive Kalman filter, and aimed at their weakness that they were sensitive to process and observation noise, we put the emphasis on the research on the robust Kalman filter algorithm. Based on the works above, we proposed an improved adaptive Kalman filter, combined it with current statistic model, and the property of micro visual system, we selected the control method, and built a testing system on visual tracking, through the simulation, we demonstrated the effectiveness of our method. Keywords: Target tracking; Target recognition; ORB; Kalman filter PAGE 4 目录摘要 I HYPERLINK \l _bookmark0 Abstract II HYPERLINK \l _bookmark1 1 绪论 HYPERLINK \l _bookmark2 1.1 课题的研究背景及来源 1 HYPERLINK \l _b