Active visual tracking of free-swimming robotic fish based on automatic recognition
文献类型：会议论文
| 作者 | Sun, Feihu; Yu, Junzhi ; Chen, Shifeng; Xu, De
|
| 出版日期 | 2015 |
| 会议名称 | 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 |
| 会议日期 | June 29, 2014 - July 4, 2014 |
| 会议地点 | Shenyang, China |
| 关键词 | Visualization, Target tracking, Histograms, Kalman filters, Target recognition, Robot kinematics |
| 页码 | 2879-2885 |
| 通讯作者 | Sun, Feihu |
| 英文摘要 | Implementing automatic visual tracking for underwater robots often remains a great challenge. In this paper, we demonstrate an active visual tracking case with a free-swimming robotic fish by use of a combination of TI DM3730-centered embedded hardware and software. Specifically, automatic recognition algorithms mainly involving color-based identification and shape-based identification are proposed. In parallel with the enhanced target recognition, an improved real-time location method based on the weighed histogram representation of the target model that synthesizes the CAMSHIFT algorithm and the Kalman filter, is put forward. After that, a fuzzy logic controller based on the CPG model is employed to generate control signals related to the desired target. Aquatic experiments validate the effectiveness of the proposed algorithms. |
| 收录类别 | IEEE |
| 会议录 | 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/4961]  |
| 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 |
| 推荐引用方式 GB/T 7714 | Sun, Feihu,Yu, Junzhi,Chen, Shifeng,et al. Active visual tracking of free-swimming robotic fish based on automatic recognition[C]. 见:2014 11th World Congress on Intelligent Control and Automation, WCICA 2014. Shenyang, China. June 29, 2014 - July 4, 2014. |
入库方式： OAI收割
来源：自动化研究所
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