2310 パン・チルトカメラとアームロボットを用いた移動物体の追跡

概要

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In this paper, we propose the method to trace an object in the large area with high speed using the arm robot and high speed pan-tilt moving cameras. Here, we also propose the method to trace a high speed object by the prediction of the object position. We can get three-dimensional position of the object from the turn angles of robot and two cameras. The object position can be predicted from the polynomial equations using three-dimensional position. In addition, in order to trace an object in general case, we use the color histogram for the feature detection. In this study, we compare the color histogram of a reference image with that of a local region in an input image hierarchically, and detect the position of the object in the input image. As a result of the experiments by using this system, the object trace can be done when the movement speed is fast.
社団法人日本機械学会の論文
2003-08-05