未知环境下基于单目视觉的移动平台目标跟踪方法研究

项目名称： 未知环境下基于单目视觉的移动平台目标跟踪方法研究

项目编号： No.61503389

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 自动化技术、计算机技术

项目作者： 伍明

作者单位： 中国人民解放军火箭军工程大学

项目金额： 21万元

中文摘要： 项目针对未知环境下基于单目视觉的移动平台目标跟踪方法展开研究，实现移动平台利用单目视觉完成平台自身、环境特征和目标状态的同步估计。首先，拟建立该问题的数学模型并提出系统算法框架。第二，针对单目视觉传感器深度观测量缺失问题，研究系统可观性条件，拟提出满足可观性和安全性条件的移动平台多目标优化控制方法。第三，针对环境特征和目标观测值获取问题，拟提出环境特征自动选择机制和基于多线索生物视觉机理的目标识别方法。第四，针对环境尺度未知性问题和目标状态初始化问题，拟提出基于先验知识的环境尺度自动估计和基于批优化的目标状态初始化方法。第五，针对伪观测值和目标未知运动模式问题，拟提出单目标和多目标跟踪数据关联方法，实现不同对象的耦合估计。该项目的科研目的是研究基于单目视觉传感器的机器人环境认知和自我认知方法，其成果有助于弥补不同研究方向的研究盲点，促进相关学科方向的交叉发展，具有较大理论和较好应用前景。

中文关键词： 移动机器人；目标跟踪；机器人同时定位与地图构建；单目视觉

英文摘要： In this project, the monocular vision based methods of moving object tracking with mobile platform will be studied facing the condition of unknown environments, and simultaneous localization, mapping and object tracking (SLAMOT) will be achieved. Firstly, the project will present mathematic model of problem and algorithm framework of system. Secondly, in order to solve bearings-only measurements problem using monocular sensor, the condition of SLAMOT observability will be studied, and a multi-objective optimum control method will be presented to meet requirements of system observability and safety. Thirdly, in order to get observation measurements of environment features and moving objects, an automatic selection mechanism based on special scene will be proposed, and an adaptive target recognition method through multiple cues will be presented. Fourthly, to get environment scale and object initial state, an estimation method of environment scale using prior knowledge will be proposed, and a batch based initialization methods of object state will be presented as well. Fifthly, data association methods of single and multiple objects tracking will be presented to deal with problems of unknown object moving model issue and object false measurements issue, achieving coupling estimation of different type objects. A main objective of this work consists in researching of methods that robot used to get the cognition of environments and itself by monocular vision. The relevant research and results of the work will help to compensate the margin of different research areas, promote jointly development of different research directions，which possesses important theoretical sense and practical values.Research on Monocular Vision Based Object Tracking with Mobile Platform in Dynamic Unknown Envoironments

英文关键词： Moblie robot;Object tracking;Simultaneous localization and mapping;Monocular vision