Visual tracking of multiple robotic fish for cooperative control,
文献类型：会议论文
| 作者 | Yu, Junzhi ; Fang, Yimin; Wang, Long; Liu, Lizhong
|
| 出版日期 | 2006 |
| 会议名称 | 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 |
| 会议日期 | December 17, 2006 - December 20, 2006 |
| 会议地点 | Kunming, China |
| 关键词 | Visual tracking robotic fish color-based parallel optimization SIMD technology |
| 通讯作者 | Yu, Junzhi |
| 英文摘要 | In this paper, we investigate visual tracking of multiple biomimetic robotie fish which swim together to achieve some specific tasks in underwater cluttered environments. Taking account of surrounding background and kinematic characteristics of swimming fish, a novel color-index-based identification approach is presented, which is capable of identifying many fish rapidly in a processing cycle. Meanwhile, some anti-jamming measures including optical correction and foil superposition are made to ensure a robust tracking. Finally, all tracking operations are optimized in coding with the aid of parallelized SIMD technologies embedded in processors. Our proposed visual system can experimentally track as large as an amount of eight robotic fish and one obstacle within 24.143 milliseconds, which can fully satisfy the requirements of cooperative control. |
| 会议录 | IEEE International Conference on Robotics and Biomimetics, ROBIO
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13073]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 作者单位 | Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China.(2)Department of Mechanics and Engineering Science, Peking University, Beijing 100871, China |
| 推荐引用方式 GB/T 7714 | Yu, Junzhi,Fang, Yimin,Wang, Long,et al. Visual tracking of multiple robotic fish for cooperative control,[C]. 见:2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006. Kunming, China. December 17, 2006 - December 20, 2006. |
入库方式： OAI收割
来源：自动化研究所
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