The Moving Target Recognition and Tracking Using RGB-D Data with the Mobile Robot

Abstract

This paper investigated the problem of moving target recognition and tracking in unknown environments for autonomous mobile robots. The mobile robot is equipped with the Kinect sensor to acquire the appearance and depth information of the environment for target recognition and motion control. As for the visual target recognition, the depth feature is fused with the color feature on the basis of the Kernel Correlation Filtering algorithm (KCF), and the Kalman filtering algorithm based on the target motion state is integrated with the KCF, to cope with such situations as the target occlusion in tracking process. The movement of the robot can be controlled according to the results of visual target recognition and the standard of keeping the target in the central area of the mobile robot’s vision. Finally, controlling the mobile robot to track the moving target is realized. The experimental results on Kobuki robot platform prove the effectiveness of the presented method.