智能工厂下的AGV多目标跟踪

doi:10.16180/j.cnki.issn1007-7820.2019.11.005

电子科技 ›› 2019, Vol. 32 ›› Issue (11): 23-27.doi: 10.16180/j.cnki.issn1007-7820.2019.11.005

智能工厂下的AGV多目标跟踪

杨标,刘翔,汤显,陈俊廷

上海工程技术大学电子电气工程学院,上海 201620

收稿日期:2018-11-15 出版日期:2019-11-15 发布日期:2019-11-15
作者简介:杨标(1991-),男,硕士研究生。研究方向:辅助驾驶。|刘翔(1972-),男,博士,副教授。研究方向:计算机视觉、机器智能。
基金资助:
国家重点研发计划(2016YFC0801304);上海市科委地方能力建设项目(15590501300)

AGV Multi-target Tracking Under Smart Factory

YANG Biao,LIU Xiang,TANG Xian,CHEN Junting

School of Electronic and Electrical Engineering,Shanghai University of Engineering Science,Shanghai 201620,China

Received:2018-11-15 Online:2019-11-15 Published:2019-11-15
Supported by:
National Key Research and Development Program of China(2016YFC0801304);Shanghai Science and Technology Commission Local Capacity Building Project(15590501300)

摘要/Abstract

摘要：

针对物流仓库下AGV跟踪过程中出现的同类物体辨别、遮挡、丢失问题,文中提出一种融合了背景建模的Camshift算法和卡尔曼滤波组合的多目标跟踪方法来解决以上问题。由于物流AGV具有同一颜色,借助Camshift基于颜色跟踪的特性,可实现对特定物流小车的跟踪。借助Kalman滤波加入运动信息,利用目标的动态信息,设法去掉噪声的影响解决同种颜色下AGV的识别、遮挡以及丢失等问题。实验表明,提出的算法能区别出同类的AGV小车,并可实现实时追踪。

关键词: AGV, 背景建模, 目标检测, 目标跟踪, Camshift算法, Kalman滤波

Abstract:

Aiming at identifying, occluding and losing similar objects in AGV tracking under logistics warehouse, the study proposed a multi-target tracking method which combined background modeling with Kalman filter. Because logistics AGV has the same color, the proposed method tracked a specific logistics car with the help of Camshift's color tracking feature. At the same time, Kalman filter was used to add motion information and make use of dynamic information of target. To solve the problems of AGV recognition, occlusion and loss under the same color, the influence of noise was removed. Experiment showed that this algorithm could distinguish similar AGV cars and track them in real time.

Key words: AGV, background modeling, object detection, target tracking, Camshift algorithm, Kalman filtering

中图分类号:

TP751

杨标,刘翔,汤显,陈俊廷. 智能工厂下的AGV多目标跟踪[J]. 电子科技, 2019, 32(11): 23-27.

YANG Biao,LIU Xiang,TANG Xian,CHEN Junting. AGV Multi-target Tracking Under Smart Factory[J]. Electronic Science and Technology, 2019, 32(11): 23-27.

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智能工厂下的AGV多目标跟踪

AGV Multi-target Tracking Under Smart Factory

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