• Frontiers of Optoelectronics
  • Vol. 12, Issue 4, 413 (2019)
Chao PENG, Danhua CAO*, Yubin WU, and Qun YANG
Author Affiliations
  • School of Optical and Electronic Information, Huazhong University of Science and Technology, Wuhan 430074, China
  • show less
    DOI: 10.1007/s12200-019-0862-0 Cite this Article
    Chao PENG, Danhua CAO, Yubin WU, Qun YANG. Robot visual guide with Fourier-Mellin based visual tracking[J]. Frontiers of Optoelectronics, 2019, 12(4): 413 Copy Citation Text show less

    Abstract

    Robot vision guide is an important research area in industrial automation, and image-based target pose estimation is one of the most challenging problems. We focus on target pose estimation and present a solution based on the binocular stereo vision in this paper. To improve the robustness and speed of pose estimation, we propose a novel visual tracking algorithm based on Fourier-Mellin transform to extract the target region. We evaluate the proposed tracking algorithm on online tracking benchmark-50 (OTB-50) and the results show that it outperforms other lightweight trackers, especially when the target is rotated or scaled. The final experiment proves that the improved pose estimation approach can achieve a position accuracy of 1.84 mm and a speed of 7 FPS (frames per second). Besides, this approach is robust to the variances of illumination and can work well in the range of 250-700 lux.
    Chao PENG, Danhua CAO, Yubin WU, Qun YANG. Robot visual guide with Fourier-Mellin based visual tracking[J]. Frontiers of Optoelectronics, 2019, 12(4): 413
    Download Citation