Tracking and grasping of moving target based on accelerated geometric particle filter on colored image

摘要

Visual tracking and grasping of moving object is a challenging task in the field of robotic manipulation,which also has great potential in applications such as human-robot collaboration.Based on the particle filtering framework and position-based visual servoing,this paper proposes a new method for visual tracking and grasping of randomly moving objects.A geometric particle filter tracker is established for visual tracking.In order to deal with the tracking efficiency issue for particle filter,edge detection and morphological dilation are employed to reduce the computation burden of geometric particle filtering.Meanwhile,the HSV image feature is employed instead of the grayscale feature to improve the tracking algorithm’s robustness to illumination change.A grasping strategy combining tracking and interception is adopted along with the position-based visual servoing(PBVS)method to achieve stable grasp of the target.Comprehensive comparisons on open source dataset and a large number of experiments on real robot system are conducted,which demonstrate the proposed method has competitive performance in random moving object tracking and grasping.