首页|期刊导航|东华大学学报（英文版）|3D Object Visual Tracking for the 220 kV/330 kV High-Voltage Live-Line Insulator Cleaning Robot
东华大学学报（英文版）2009，Vol.26Issue(3)：264-269,6.
3D Object Visual Tracking for the 220 kV/330 kV High-Voltage Live-Line Insulator Cleaning Robot
3D Object Visual Tracking for the 220 kV/330 kV High-Voltage Live-Line Insulator Cleaning Robot
摘要
Abstract
The 3D object visual tracking problem is studied for the robot vision system of the 220 kV/330 kV high-voltage live-line insulator cleaning robot. The SUSAN Edge based Scale Invariant Feature (SESIF) algorithm based 3D objects visual tracking is achieved in three stages: the first frame stage, tracking stage, and recovering stage. An SESIF based objects recognition algorithm is proposed to fred initial location at both the first frame stage and recovering stage. An SESIF and Lie group based visual tracking algorithm is used to track 3D object. Experiments verify the algorithm's robustness. This algorithm will be used in the second generation of the 220 kV/330 kV high-voltage five-line insulator cleaning robot.关键词
high-voltage/live-line/robotics/SUSAN Edge based Scale Invariant Feature (SESIF)/object recognition/visual tracking/Lie groupKey words
high-voltage/live-line/robotics/SUSAN Edge based Scale Invariant Feature (SESIF)/object recognition/visual tracking/Lie group分类
信息技术与安全科学引用本文复制引用
ZHANG Jian,YANG Ru-qing..3D Object Visual Tracking for the 220 kV/330 kV High-Voltage Live-Line Insulator Cleaning Robot[J].东华大学学报（英文版）,2009,26(3):264-269,6.基金项目
National High Technology Research and Development Program of China (863 program, No. 2002AA42Dl10-2) （863 program, No. 2002AA42Dl10-2）
