| 基于机器视觉的仿人机器人运动跟踪技术研究 |
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| 引用本文： | 陈宇,李景禹,钟秋波.基于机器视觉的仿人机器人运动跟踪技术研究[J].安徽农业科学,2014(17):5680-5682. |
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| 作者姓名： | 陈宇 李景禹 钟秋波 |
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| 作者单位： | 东北林业大学信息与计算机工程学院;宁波工程学院; |
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| 基金项目： | 中央高校基本科研业务费专项资金项目(2013CBQ03);黑龙江省教育厅科学技术研究项目(12513016);黑龙江省自然科学基金项目(F201347);哈尔滨市科技创新人才专项资金项目(2013RFQXJ100) |
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| 摘 要： | 针对仿人机器人的特点，设计了一个具有单目视觉的仿人机器人视觉识别系统。在比较各种追踪算法的基础上，将算法应用于机器人视觉识别，并以此调整机器人前进路线。根据FIRA比赛规则，决策系统通过视觉反馈和姿态反馈信息，调用底层动作库，进行短跑运动规划。实验显示算法适合仿人机器人参加竞技类比赛。
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| 关 键 词： | 仿人机器人 跑步 Mean-Shift |
Research on Motion Tracking Technology of Humanoid Robot Based on Machine Vision |
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| Institution: | CHEN Yu et al (School of Information and Computer Engineering, Northeast Forestry University, Harbin, Heilongjiang 150040) |
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| Abstract: | According to the characters of humanoid robot, a muhi - layers control system for humanoid robot based on single vision was designed. On the basis of the comparison of various tracking algorithms, the algorithm used in robot vision＇ recognition, and thus adjust forward line of the robot. Under the rules of sprint in FIRA, motion planning of sprint was implemented by the decision system via the response of vision and pose of the robot. Experiments show that the algorithm is suitable humanoid robot to participate in athletic competitions. |
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| Keywords: | Humanoid robot Running Mean - Shift |
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