A COLOR VISUAL TRACKING SYSTEM OF MOBILE ROBOT

摘要

A color visual system of mobile robot is presented for tracking the moving object. The mobile robot tracks a color rigid object via the information provided by the vision system. The system searches the position of the object interested to us by using the color features of the rigid object, and then it locates the object exactly by using the contour model of the rigid object. A novel method of color feature representation is presented. The color features, including One Dimension Color Vector and Region Mean Gray Scale, are from the Hue-Saturation-Intensity color space. Invariant moments are employed to check the shape of object, thus the rotation changes of object can be ignored. The results of experiments of tracking a blue ball in invariant background and mutative background show the system's good ability of tracking a color rigid object with good tracking accuracy.