BEST: a real-time tracking method for scout robot

Authors:
Diansheng Chen;Feng Bai;Peng Li;Tianmiao Wang
Affiliations:
Robotics Institute, Beihang University, Beijing, China;Robotics Institute, Beihang University, Beijing, China;Robotics Institute, Beihang University, Beijing, China;Robotics Institute, Beihang University, Beijing, China
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

We propose a BEST (Background subtraction and Enhanced camShift Tracking) method for a scout robot tracking a moving object in real time. A modified back subtraction method based on time axis is used to segment the moving object in a complicated environment. The centroid and area are chosen as the feature to judge target. We proposed a novel method that combines Camshift, AWS (Adaptive Window Selecting method) and Kalman predicting algorithm together to track the detected object. Experiments based on a DSP image processing system in a scout robot indicate the feasibility and robustness of our method.