[1]王婷婷,李戈,赵杰,等.基于双目视觉的运动目标检测跟踪与定位[J].机械与电子,2015,(06):73-76.
　WANG Tingting,LI Ge,ZHAO Jie,et al.Detection,Tracking and Positioning of Moving Target Based on Binocular Vision[J].Machinery & Electronics,2015,(06):73-76.
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基于双目视觉的运动目标检测跟踪与定位
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2015年06期
页码:
73-76
栏目:
智能工程
出版日期:
2015-06-26

文章信息/Info

Title:
Detection,Tracking and Positioning of Moving Target Based on Binocular Vision
文章编号:
1001-2257(2015)06-0073-04
作者:
王婷婷; 李戈; 赵杰; 张学贺
(哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150001)
Author(s):
WANG Tingting; LI Ge; ZHAO Jie; ZHANG Xuehe
(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin150001,China)
关键词:
双目视觉; 目标跟踪; 立体匹配; 三维测距
Keywords:
binocular vision;  target tracking;  stereo matching; 3D distance measurement
分类号:
TP391
文献标志码:
A
摘要:
为克服传统目标检测跟踪方法无法对目标准确定位,以及在复杂环境下容易受光照、阴影等因素干扰的问题,提出了基于双目视觉的目标检测跟踪与定位方法。首先使用Matlab标定工具箱和OpenCV进行摄像机标定和图像校正,然后利用基于双目视觉的背景差分法实现目标检测,结合基于Kalman滤波的改进Camshift算法实现目标跟踪,最后利用视差图得到目标三维信息,从而实现目标定位。实验结果表明,所提方法能够实时跟踪运动目标并实现目标的准确定位。
Abstract:
In order to solve problems such as traditional target detecting and tracking methods failing to locate accurately and method being susceptible to interference from light and shadow, target detecting and positioning methods based on binocular vision are put forward. Firstly, the Matlab Calibration Toolbox and OpenCV were used for camera calibration as well as for image correction. Next, the background difference method based on binocular vision was used to achieve target detection, while the improved Camshift algorithm based on Kalman filtering was employed to realize target tracking. Finally, a disparity map was used to obtain the three-dimensional target information, thereby achieving target location. Experimental results show that the proposed method can track the moving target in real time and can achieve an accurate positioning.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2015-01-27
基金项目:国家自然科学基金(61473104)
作者简介:王婷婷(1990-),女,河北衡水人,硕士研究生,研究方向为机器人视觉。
更新日期/Last Update: 2015-06-26