计算机工程与应用Issue(16)：48-53,66,7.DOI:10.3778/j.issn.1002-8331.1402-0261
智能空间下基于异质传感信息融合的目标跟踪
Target tracking based on heterogeneous sensor information fusion in intelligent space
摘要
Abstract
For a wide range of detection and tracking of target for a mobile service robot problem under the unknown environment, this article puts forward a method based on the heterogeneous information fusion structure to realize the target detection and tracking in real-time of robots, whose basis is distributed intelligent network devices and the robot’s 2D laser range finder in the intelligence space. The system matches the moving target by the information on color, and carries out the 3D reconstruction of the target depending on the triangulation technique and least square method. The moment it detects the moving target, in order to get the exact distance information, it will scan the target human’s leg by the laser range finder to cluster the nearest neighbor. Meanwhile, this article raises a better Iterative Extend Kalman Filter for the heterogeneous sensor information fusion to realize the simultaneous robot localization and target tracking based on the intelligence space. The experimental results verify the effectiveness of the proposed method.关键词
目标跟踪/分布式智能网络设备/扩展卡尔曼滤波/异质传感器信息融合Key words
target tracking/distributed intelligent network devices/extend Kalman filter/heterogeneous sensor information fusion分类
信息技术与安全科学引用本文复制引用
桑森,田国会,段朋,吴皓..智能空间下基于异质传感信息融合的目标跟踪[J].计算机工程与应用,2014,(16):48-53,66,7.基金项目
国家高技术研究发展计划（863）（No.2009AA04Z220）；山东省自然科学基金资助课题（No.ZR2011FM011）。 （）
