| 基于机器人操作系统的机器人自主追踪系统设计 |
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| 引用本文： | 张军,刘先禄,张宇山.基于机器人操作系统的机器人自主追踪系统设计[J].科学技术与工程,2021,21(28):12158-12165. |
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| 作者姓名： | 张军 刘先禄 张宇山 |
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| 作者单位： | 安徽理工大学人工智能学院,安徽理工大学机械工程学院 |
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| 基金项目： | 国家创新方法工作专项（2018IM010500）；安徽省科技厅重点研究与开发计划面上攻关项目（201904a05020004） |
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| 摘 要： | 为了解决移动机器人在机器人操作系统(robot operating system, ROS)中的人脸追踪问题,提出一种基于Siamese目标跟踪算法开发的追踪系统。首先,开发了追踪系统的硬件平台;其次,开发了Siamese跟踪算法,实现了对人脸目标的实时跟踪;最后,实现了导航系统与视觉系统的开发及融合,并通过实时记录的追踪数据与追踪曲线,分析了该系统的追踪性能。实验结果表明:该系统能够在ROS系统下实现对人脸目标的实时跟踪。
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| 关 键 词： | 人脸跟踪 ROS 追踪系统 Siamese跟踪算法 实时跟踪 |
| 收稿时间： | 2021/3/9 0:00:00 |
| 修稿时间： | 2021/7/14 0:00:00 |
Design of Robot Autonomous Tracking System Based on ROS |
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| Zhang Jun,Liu Xianlu,Zhang Yushan.Design of Robot Autonomous Tracking System Based on ROS[J].Science Technology and Engineering,2021,21(28):12158-12165. |
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| Authors: | Zhang Jun Liu Xianlu Zhang Yushan |
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| Institution: | College of Artificial Intelligence, Anhui University of Science and Technology, College of Mechanical Engineering, Anhui University of Science and Technology |
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| Abstract: | In order to solve the face tracking problem of mobile robot in ROS system, a tracking system based on Siamese target tracking algorithm was presented. Firstly, the hardware platform of the tracking system was developed. Secondly, Siamese tracking algorithm was developed to realize real-time face tracking. Finally, the development and integration of navigation system and vision system were realized. The tracking performance of the system was analyzed by real-time recorded tracking data and tracking curve. Experimental results showed that the system could realize real-time face tracking in ROS system. |
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| Keywords: | Face tracking ROS Tracking system Siamese tracking algorithm Real time tracking |
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