Journal of the Institute of Electronics Engineers of Korea SC (전자공학회논문지SC)

The Institute of Electronics and Information Engineers (대한전자공학회)
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A Moving Target Tracking Algorithmfor a Mobile Robot Based on a 2D Image of a Line Light

직선광선의 2D 영상을 이용한 이동로봇의 이동물체 추적 알고리즘

  • Rim, Ho (School of Electronic Engineering, Soongsil University) ;
  • Hahn, Hernsoo (School of Electronic Engineering, Soongsil University) ;
  • Hong, Min-Cheol (School of Electronic Engineering, Soongsil University)
  • 임호 (숭실대학교 정보통신전자공학부) ;
  • 한헌수 (숭실대학교 정보통신전자공학부) ;
  • 홍민철 (숭실대학교 정보통신전자공학부)
  • Published : 2000.07.01
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Abstract

This paper proposes a new algorithm for a mobile robot that detects and tracks a moving target, keeping it in the view range of the robot. The sensor system consists of a camera and a line light source. The camera system is placed so that the line light projected into the ground from the light source forms its image along the horizontal center line of the CCD array of the camera. The deformation of the line image from the horizontal center line contains the information on existence of a moving object, its velocity, and position. Since the proposed algorithm reduces the region of the image to be searched, it reduces the computational complexity significantly comparing to the conventional image processing algorithms. The performance of the proposed algorithm has been tested by implementing on a mobile robot.

본 논문에서는 이동로봇이 작업환경 내에서 이동하는 물체를 실시간에 인지, 추적하기 위한 비젼센서 시스템을 제안한다. 제안하는 시스템은 하나의 직선광선을 카메라 영상의 중앙에 수평하게 투영되도록 하여 이동로봇의 경로에 투사하고 이 광선이 물체와 교차하여 생성하는 선분영상만을 취득, 해석함으로써 비젼센서를 이용하는 기존의 방법들이 영상전체를 이해하기 위해 필요로 하던 계산상의 복잡도를 줄이고 있다. 이동물체의 존재여부, 속도 및 위치는 2개의 연속된 영상에서 얻어진 선분영상의 위치 및 길이의 변형도를 일정한 기준치와 비교하여 결정하는 간단한 방법을 제안한다. 제안된 알고리즘은 보안 및 다수이동로봇의 제어분야에서 다양하게 응용될 수 있으며 실험을 통해 그 성능을 평가하였다.

Keywords

References

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