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ABSTRACT: We propose a BEST (Background subtraction and Enhanced camShift Tracking) method for a scout robot tracking a moving object in real time. A modified back subtraction method based on time axis is used to segment the moving object in a complicated environment. The centroid and area are chosen as the feature to judge target. We proposed a novel method that combines Camshift, AWS (Adaptive Window Selecting method) and Kalman predicting algorithm together to track the detected object. Experiments based on a DSP image processing system in a scout robot indicate the feasibility and robustness of our method.
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on; 11/2009
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ABSTRACT: A camera can assist a robot to detect and track objects when it is used in a scout robot system, and hence, help the robot to navigate. This paper discusses problems of tracking a human face where an active camera is installed on a 2 DOF pan and tilt. Kinematics model between object in motion and image of camera is built. The face detection and tracking algorithm is introduced which uses complexion color as a feature. Opening operation in morphology is carried, and the person in motion is successfully found. The centroid of the human face is computed, and transformed to the move of pan and tilt in degree, respectively. Then, commands are sent to the motion controller so as to drive the motors to track the face. Principle and algorithm of the motion controller are presented. Experiments show that the face can be effectively detected and tracked based on these methods.
Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on; 03/2009
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Angewandte Chemie International Edition 02/2008; 47(6):1054-7. · 13.45 Impact Factor
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ABSTRACT: Single-phase hollow poly(o-anisidine) colloidal spheres with uniform sizes were directly synthesized in dilute aqueous solution of o-anisidine in the presence of a small amount of an initiator, cupric acetate or basic cupric bromide, Cu2(OH)3Br, under hydrothermal conditions. The void volume and size of hollow poly(o-anisidine) colloidal spheres can be readily tuned by varying the hydrothermal reaction time and adjusting the ratios between the starting reactants. The formation of voided poly(o-anisidine) results from a diffusion-related process driven by the relatively large concentration change between polymer core and solution as well as the high pressure and temperature under hydrothermal conditions. At the same time, the mesostructures of poly(o-anisidine) are dependent on reaction time, temperature, and monomer concentration. An extension of this one-pot synthetic method yields hollow polyaniline colloidal spheres.
10/2007;
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Angewandte Chemie International Edition 02/2007; 46(35):6650-3. · 13.45 Impact Factor
