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Robot curve tracking is used in many aspects of industry, such as automatic welding and incising. In this paper, the technique of structure light triangulation is used for camera calibration of curve tracking system at first, and then an improved curve detection algorithm is presented. This algorithm adopts an extended chain code template. The discrete sampling point sequence of curve can be obtained...
This paper presents a computational model of neural network for both spatial and temporal weights, and a unified adaptation scheme based on two biologically plausible learning rules-Hebbian rule and lateral inhibition is proposed. This model is applied to color video environment to develop a set of complete spatiotemporal weights simulating receptive field of simple cell in primary visual cortex,...
This thesis aims to develop a system for multiple objects tracking and joint attention between a human and a robot. We propose a new method (modified Multi-CAMSHIFT, MMC), which is based on the characteristics of color and shape probability distribution, to solve the tracking problems for multiple objects. The color information is calculated by MMC improved from CAMSHIFT theory. The shape information...
We present a real-time person tracking system for a mobile robot using the information from a PTZ video camera and a laser range finder. For robust tracking, the target person model is constructed. The model includes the color, edge and size information of the tracked person. People moving in the field of view are detected by the robot via the laser range finder and verified against the target person...
In this paper, we develop a robot which can detect and track a human face for the purpose of developing an autonomous robot that communicates with people. In order to detect a human face from a camera image, we pay attention to flesh color of a person and develop two techniques for detecting and pursuing a flesh-colored area as a face. The developed robot models a human head. We install two USB cameras...
The ability to detect and follow a specific person is considered to be a key prerequisite of service mobile robots in indoor environments. A novel vision-based tracking and following method for a mobile robot is proposed, which combines the clothes color features of the person's upper body and the contour of the head-shoulder. Horizontal-Projecting Probability Histogram (HPPH) of torso based on particular...
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