关键词: 六足机器人, 运动补偿, 动态目标检测, 目标跟踪, 区域合并

Abstract:

Dynamic target detection and target tracking are hot issues in the field of image. In order to explore its application value in the field of mobile robot, a dynamic target detection and tracking system is designed based on hexapod robot, and a region merging algorithm is proposed to solve the problem of non-rigid moving object detection dispersion. Firstly, the dynamic target detection method is introduced with region merging and adaptive external point filtering based on motion compensation method. This method achieves the accurate compensation of the moving background through symmetric matching and adaptive external point filtering, and achieves complete detection of non-rigid objects by region merging. Secondly, the application of target tracking algorithm based on KCF（Kernel Correlation Filter） in hexapod robot platform is studied, and the angle tracking of moving target is realized by adaptive adjustment of tracking speed. Finally, the moving target detection and tracking algorithm proposed in this paper is applied to hexapod robot system. Experiments show that the proposed algorithm can realize exact detection and real-time tracking of moving targets during the moving process of hexapod robot.

Key words: hexapod robot, motion compensation, dynamic target detection, target tracking, region merging