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首页> 外文期刊>Systems, Man and Cybernetics, IEEE Transactions on >A Visual Leader-Following Approach With a T-D-R Framework for Quadruped Robots
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A Visual Leader-Following Approach With a T-D-R Framework for Quadruped Robots

机译：一种视觉领导者 - 跟随具有四r-r框架的方法，用于四足机器人

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摘要

The quadruped robot imitates the motions of four-legged animals with a superior flexibility and adaptability to complex terrains, compared with the wheeled and tracked robots. Its leader-following ability is unique to help a human to accomplish complex tasks in a more convenient way. However, long-term following is severely obstructed due to the high-frequency vibration of the quadruped robot and the unevenness of terrains. To solve this problem, a visual approach under a novel T-D-R framework is proposed. The proposed T-D-R framework is composed of a visual tracker based on correlation filter, a person detector with deep learning, and a person re-identification (re-ID) module. The result of the tracker is verified by the detector to improve tracking performance. Especially, the re-ID module is introduced to handle distractions and occlusion caused by other persons, where the convolutional correlation filter (CCF) is employed to discriminate the leader among multiple persons through recording the appearance information in the long run. By comparing the results of the tracker and the detector as well as their similarity scores with the leader identified by the re-ID module, a stable and real-time tracking of the leader can be guaranteed. Experiments reveal that our approach is effective in handling distractions, appearance changes, and illumination variations. A long-distance experiment on a quadruped robot indicates the validity of the proposed approach.
机译：与轮式和跟踪的机器人相比，四腿机器人模仿四足动物的动力，具有优越的灵活性和对复杂地形的适应性。其领导者之后的能力是独一无二的，帮助人类以更方便的方式完成复杂的任务。然而，由于四足机器人的高频振动和地形的不均匀性，长期之后受到严重阻碍。为了解决这个问题，提出了一种新的T-D-R框架下的视觉方法。所提出的T-D-R框架由基于相关滤波器的可视跟踪器，一个具有深度学习的人检测器，以及一个人重新识别（RE-ID）模块。检测器验证跟踪器的结果以提高跟踪性能。特别是，引入重新ID模块以处理由其他人引起的分心和闭塞，其中使用卷积相关滤波器（CCF）来通过在长期运行中记录外观信息来区分多人之间的领导者。通过比较跟踪器和检测器的结果以及与由RE-ID模块识别的领导者的相似度分数，可以保证领导者的稳定和实时跟踪。实验表明，我们的方法在处理分心，外观变化和照明变化方面是有效的。在四足机器人上的远程实验表明了所提出的方法的有效性。

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  • 作者

    Pang Lei; Cao Zhiqiang; Yu Junzhi; Guan Peiyu; Rong Xuewen; Chai Hui;

  • 作者单位

    Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China|Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China;

    Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China|Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China;

    Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China|Peking Univ Coll Engn Dept Mech & Engn Sci BIC ESAT State Key Lab Turbulence & Complex Syst Beijing 100871 Peoples R China;

    Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China|Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China;

    Shandong Univ Sch Control Sci & Engn Jinan 250061 Peoples R China;

    Shandong Univ Sch Control Sci & Engn Jinan 250061 Peoples R China;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Visualization; Target tracking; Mobile robots; Correlation; Robot kinematics; Cameras; Detector; leader following; long-term tracking; person re-identification (re-ID); quadruped robot;

    机译：可视化;目标跟踪;移动机器人;相关;机器人运动学;相机;探测器;领导者追随;长期跟踪;人重新识别（重新ID）;Quadruped机器人;

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