원문정보
초록
영어
A mobile robot with various types of sensors via ubiquitous networks is introduced. We designed a mobile robot composed of TCP/IP network, wireless camera and several sensors in an environment, and show object avoiding and tracking methods necessary for providing diverse services desired by the people. To avoid obstacles(objects), active sensors such as infrared rays sensors and supersonic waves sensors are employed together and measures the range in real time between the obstacles and the robot. We focus on how to track a object well because it gives robots the ability of working for human. This paper suggests effective visual tracking system for moving objects with specified color and motion information. The proposed tracking system includes the object extraction and definition process which uses color
transformation and AWUPC computation to decide the existence of moving object. Active
contour information and shape energy function are used to exactly tract the objects with shape changes. Finally, real time mobile robot avoiding and tracking objects is implemented.
목차
1. Introduction
2. Mobile Robot System
3. Extraction of the Object Region
3.1 Normalized color transform
3.2. Moving color transform using AWUPC
3.3. Segmentation of the moving object
4. Tracking Moving Object
4.1 Shape information function for objects
4.2 Correspondence problem
5. Experiment
5.1 Range Estimation using sensors
5.2 Extraction of the moving color
5.3. Experiments for object tracking
6. Conclusion
References