基于自动获取彩色目标的手臂运动轨迹跟踪

摘要

将计算机视觉应用于对示教者动作的分析，控制机器人完成动作轨迹的复现，成为机器人智能化的一个研究方向。针对机器人模仿示教者动作的视觉需求，提出一种基于自动获取彩色目标的目标跟踪算法。该算法在 L*a*b 空间采用 k 均值聚类算法对彩色图像分类；在 HSV 空间基于 H 分量采用直方图门限法识别彩色目标，最后采用 camshift 算法实现在图像序列中对目标轨迹的跟踪。通过对人体手臂关节点运动轨迹跟踪的实验表明，该算法能自动准确地识别多个彩色目标，并自动生成手臂关节运动轨迹，是机械臂模仿示教者动作的关键技术之一。%It becomes a research direction of robotic intelligence that to apply computer vision in analysing teacher’s actions and controlling robot to reproduce the action trajectories.According to the vision demands of robots in imitating teacher’s actions,in this paper we propose a target tracking method which is based on obtaining colour targets automatically.The method uses k-means clustering algorithm to classify colour images in Lab colour space;in HSV space it recognises colour targets based on H component and using histogram thresholding method;at last it uses camshift algorithm to implement tracking the target trajectories from image sequences.Through the experiment of tracking the moving trajectory of human body arm joints,it is shown that the method can automatically and accurately recognise colour targets and automatically generate arm joints moving trajectory as well,it is one of the key technologies of imitating teacher’s actions by robot arm.