DESIGN AND IMPLEMENTATION OF THE VISUAL DETECTION SYSTEM FOR AMPHIBIOUS ROBOTS
Yanlin He, Xu Zhang, Lianqing Zhu, Guangkai Sun, and Junfei Qiao
Keywords
Amphibious spherical robot, visual detection system, tracking learn-ing detection, real time
Abstract
Aiming at application requirements of our spherical amphibious
robot, which has one type of propulsion system to be used both
on land and in water, an improved tracking learning detection
(TLD) algorithm is designed and implemented, so as to improve the
robustness and environmental adaptability of its visual detection
system. First, binary normalized gradient method is implemented
to reduce the number of image candidate samples. Second, the
compressive sensing algorithm is introduced to speed up the image
feature calculation. Then, some common videos are applied to
test the performance of the improved TLD algorithm, and the
results show that the average frame rate of the improved TLD
algorithm is increased. Finally, to evaluate the feasibility and
effectiveness of the improved TLD algorithm in the visual system of
our amphibious spherical robot, a series of experiments are carried
out with illumination changes and in underwater environment.
Comparison experimental results demonstrated that the improved
TLD algorithm has better effectiveness, robustness and real-time
performance than the traditional TLD algorithm.
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