Moving Target Tracking with Robot Based on Laser-Camera Data Fusion
Ming Wu, Lin Lin Li, Zhen Hua Wei, Hong Qiao Wang, Cheng Jian Li · Advanced materials research · 2014
The aims of this paper is to promote object detection and tracking ability of mobile robot in outdoor unknown environments, which based on integration of camera and laser ranger finder data information. First, Camshift method is used to track area of target in image which observed by camera. Second, consistency grid map method is used to detect this moving target based on laser ranger finder observation. Next, two states of the target come from laser and camera sensors are fused to update error of estimation and the new state of target helps to determine search window of Camshift in next loop. Finally, a global optimization method is proposed to improve accuracy of laser-camera calibration. The experimental results show that the proposed algorithm is effective to track object in outdoor unknown environments.