Dynamic Obstacle Detection Based on Background Compensation in Robot’s Movement Space

摘要

In the safety area of industrial production, robots are required to have the ability of quickly detecting the dynamic obstacles which appear in the working space of robots when robots move along a predefined route. In order to solve the problem of dynamic obstacles detection more effectively, the paper proposes a quick detection method based on background compensation for dynamic obstacles in robot movement space, which makes extraction of feature points on dynamic obstacles in robot movement space, establishes the background model of optical flow velocity field between adjacent frames and makes background compensation for images with the use of block-matching algorithm in order to realize quick and accurate dynamic obstacles detection in dynamic environment. The experiment results show that the obstacles detection method can effectively eliminate the background movement caused by the movement of camera at the end of robot and can extract a more complete target object. Moreover, it also has good robustness.