高效能即時多物件移動偵測追蹤系統

High Performance Real-time Object Detecting and Tracking System for Multiple Moving Targets

王榮彬(Jung-Pin Wang)

指導教授 ： 龔志賢

共同指導教授 ： 陳宗正(Tsung-Cheng Chen)

長榮大學/管理學院/經營管理研究所(博)/碩士(2007年)

https://doi.org/10.6833/CJCU.2007.00152

摘要

在這文章中，提出了高效能即時多物件移動偵測追蹤系統。使用對象為足球機器人的視覺系統，它可以即時的偵測和追蹤並且辦識顏色和計算出受偵測物件的位置。位置的資訊是運用影像過濾及加強的演算法再加上多目標追蹤演算法使得系統可以同時在1/30秒時間內，同時偵測追蹤七個目標和計算為偵測物的位置、速度和行動方向。因此得到的資訊能提供給系統作決策，並且使系統做出一個適當的決定戰略和正確的控制足球機器人。實驗的結果顯示出，提出方法改進多移動目標偵測的功能，在明確的辦識目標是相對的提高了。

關鍵字

足球機器人 ； 多目標追蹤

並列摘要

In this paper, high performance real-time object detecting and tracking system for are proposed. The robot vision system which employs the proposed object detection and tracking scheme could identify color and compute the positions of object in real-time. The position information is calculated by using the color information embedded in the image and the proposed color models matching algorithm. Along with the proposed multiple targets tracking algorithm, the implemented system could detect and track up to seven targets in the field simultaneously and compute the position, velocity, and motion orientation of the objects in a speed of 1/30 seconds. The calculated information could then be provided to the decision making system and enables the system to make a proper decision of the strategy and control the soccer robots accordingly. Experimental results demonstrate that the propose method improve the effect of multiple moving targets detection, recognize target contour clearly.

並列關鍵字

robot ； multiple moving targets

參考文獻

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