Monocular Robot Tracking Scheme Based on Fully-Convolutional Siamese Networks

被引：0
|
作者：
Jia, Songmin [1 ,2 ]
Zhang, Ran [1 ,2 ]
Li, Xiuzhi [1 ,2 ]
Zhang, Xiangyin [2 ]
Li, Mingai [1 ,2 ]
机构：
[1] Beijing Univ Technol, Fac Informat Technol, Beijing, Peoples R China
[2] Minist Educ, Engn Res Ctr Digital Community, Beijing 100124, Peoples R China
来源：
2018 CHINESE AUTOMATION CONGRESS (CAC) | 2018年
基金：
中国国家自然科学基金;
关键词：
mobile robot; robot tracking control; robot vision; ROS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Tracking a specified target is a fundamental task of service robots. This paper studies and designs a monocular mobile robot tracking system based on Fully-Convolutional Siamese Networks. This tracking mobile robot system uses the Siamese convolution network as the tracker to lock the target. The bearing conversion algorithm and speed conversion algorithm are combined to implement following the target stably and accurately. The bearing conversion algorithm keeps the tracking target in the middle of the image and calculates the moving angle according to the distance from the center. The speed conversion algorithm sets different speeds according to the ratio of bounding box area. Implementation of the monocular mobile robot tracking system is grounded on the Robotic Operating System (ROS) platform. The experiment shows the effectiveness of the implemented the monocular robot tracking system which can achieve real-time following target at variable speeds according to the forward speed of the tracking target with safety distance even though having occlusion.
引用
收藏
页码：2616 / 2620
页数：5
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