Registered Object Trajectory Generation for Following by a Mobile Robot

摘要

This article presents an algorithm to generate trajectory of a visually localized object by linking centre points from successive image frames. In this method object is registered using a mouse and the system dynamically creates several templates of that object with different resolutions and slides those templates over the whole image and measures the matching score at every position. Based on predefined threshold of minimum distance object is localized and the centre position of that object is preserved. Using the coordinates of two consecutive centres of localized object, the system calculates the object movement in terms of number of pixels and direction in radian. Finally, the system maps the visual information with floor spaces where the robot will be moved. The algorithm is tested using a mobile robot where the robot follows the trajectory of a registered object.