Monocular vision following system and monocular vision following method for mobile robot

Abstract

The invention discloses a monocular vision following system and a monocular vision following method for a mobile robot. The following system comprises a monocular camera and a notebook computer whichare carried on a wheel type mobile platform, a graphic workstation. The graphic workstation and the notebook computer are located in the same wireless local area network and are in wireless communication connection; the monocular camera captures and acquires observed real-time video stream data and transmits the data to the notebook computer; the notebook computer preprocesses the real-time video stream data and transmits the video stream data to the graphic workstation to recognize and track a target pedestrian in the real-time video stream data; and the notebook computer generates a wheeltype mobile platform motion control instruction through the target following control strategy, and the wheel type mobile platform receives the motion control instruction generated by the notebook computer to execute an operation action, so that real-time following of a target pedestrian observed by the monocular camera is realized. The invention can achieve the precise tracking of the target pedestrian, are low in cost, are high in transportability, and are wide in application prospect.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a mobile robot monocular vision following system and a following method. Background technique [0002] Service robots refer to fully autonomous or semi-autonomous robots that are not engaged in industrial production. Most of the service robots are mobile robots. Generally speaking, one of the main differences between service robots and industrial robots is that the application environment of service robots is based on Human-dominated complex unstructured environment, target-following technology, as one of the core application technology fields of autonomous and movable service robots serving individuals / family, is a fusion of computer vision, machine learning, multi-sensor fusion, Systematic subject technology in many scientific research fields such as robot motion modeling control. [0003] The existing mature robot target following technology generally has the characteristics o...

AI Technical Summary

Problems solved by technology

[0005] The technical problem mainly solved by the present invention is to provide a mobile robot monocular vision following system and following method, which solves the problems of complex composition, high implementation cost and lack of portability of service robots in the prior art.

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