Frontiers of Optoelectronics, 2019, 12 (4): 413–421, 网络出版: 2020-01-09
Robot visual guide with Fourier-Mellin based visual tracking
Robot visual guide with Fourier-Mellin based visual tracking
robot visual guide target pose estimation stereo vision visual tracking Fourier-Mellin transform (FMT)
摘要
Abstract
Robot vision guide is an important research area in industrial automation, and image-based target pose estimation is one of the most challenging problems. We focus on target pose estimation and present a solution based on the binocular stereo vision in this paper. To improve the robustness and speed of pose estimation, we propose a novel visual tracking algorithm based on Fourier-Mellin transform to extract the target region. We evaluate the proposed tracking algorithm on online tracking benchmark-50 (OTB-50) and the results show that it outperforms other lightweight trackers, especially when the target is rotated or scaled. The final experiment proves that the improved pose estimation approach can achieve a position accuracy of 1.84 mm and a speed of 7 FPS (frames per second). Besides, this approach is robust to the variances of illumination and can work well in the range of 250-700 lux.
Chao PENG, Danhua CAO, Yubin WU, Qun YANG. Robot visual guide with Fourier-Mellin based visual tracking[J]. Frontiers of Optoelectronics, 2019, 12(4): 413–421. Chao PENG, Danhua CAO, Yubin WU, Qun YANG. Robot visual guide with Fourier-Mellin based visual tracking[J]. Frontiers of Optoelectronics, 2019, 12(4): 413–421.