机器人2012，Vol.34Issue(3)：354-362,9.DOI:10.3724/SP.J.1218.2012.00354
基于DSP的主动视觉系统
DSP-based Active Vision System
摘要
Abstract
In order to improve target detection speed and accuracy, simplify particle filter based target tracking algorithm for histogram calculation, and improve the speed of detection and tracking algorithm in the DSP (digital signal processor)based active vision systems, a DSP-based active vision system is proposed. By improved the EMCV (Embedded Computer Vision Library) and heuristic search methods, the system implements the AdaBoost detection algorithm on the DSP. And in that system, the color histogram and edge orientation histogram in particle filter are calculated by using the incremental histogram calculation algorithm, the histogram is integrated into the observation model, and the target tracking algorithm is optimized on the DSP. The experiment proves the rapidity and the robustness of the proposed algorithm in the active vision system.关键词
主动视觉/目标检测/目标跟踪/AdaBoost/增量式直方图/粒子滤波/DSPKey words
active vision/ target detection/ target tracking/ AdaBoost/ incremental histogram/ particle filter/ DSP (digital signal processor)分类
信息技术与安全科学引用本文复制引用
夏轩,刘华平,许伟明,孙富春..基于DSP的主动视觉系统[J].机器人,2012,34(3):354-362,9.基金项目
国家自然科学基金资助项目(61075027,90820304,91120011) （61075027,90820304,91120011）
国家973计划资助项目(G2007CB311003,2009CB724002) （G2007CB311003,2009CB724002）
上海市研究生创新基金资助项目(JWCXSL1022) （JWCXSL1022）
河北省自然科学基金资助项目(F2010001106). （F2010001106）
