嵌入式自主跟蹤系統-球童機器人

        隨著(zhù)人工智能和計算機視覺(jué)技術(shù)的發(fā)展與成熟，服務(wù)型機器人已出現在各個(gè)領(lǐng)域。由于高爾夫獨特的運動(dòng)方式和復雜的場(chǎng)地條件，因而對高爾夫球場(chǎng)的球童機器人研究具有一定的價(jià)值。目前，國內外已有一些廠(chǎng)商推出了相應的產(chǎn)品，這些產(chǎn)品大多應用GPS導航遙控或是無(wú)線(xiàn)射頻控制技術(shù)，取得了一定的成功。

        本作品基于Intel雙核處理器的開(kāi)發(fā)平臺，綜合運用RF無(wú)線(xiàn)通信，超聲測距，計算機視覺(jué)，模式識別等技術(shù)，實(shí)現了機器人對運動(dòng)目標的識別與跟蹤。當前，國內外對靜止背景下的目標跟蹤，已經(jīng)有大量的成熟的研究成果，但是對于前景和背景都是運動(dòng)情況下的目標跟蹤的研究還處于起步階段，尚沒(méi)有成熟的技術(shù)來(lái)解決此問(wèn)題。本作品是對計算機視覺(jué)跟蹤技術(shù)的一次大膽應用，采用多傳感器協(xié)同工作的方式，嘗試解決攝像頭運動(dòng)情況下的目標跟蹤，取得了不錯的效果。

        為了充分發(fā)揮開(kāi)發(fā)平臺的雙核優(yōu)勢，本作品中還加入了基于OpenMP標準的雙核多線(xiàn)程優(yōu)化技術(shù)，使作品的魯棒性和實(shí)時(shí)性得到了提高。另外，本作品的研究成果可以很容易地引用到其他領(lǐng)域，如智能玩具，智能監控護理，軍事上的自動(dòng)巡邏等等。所以有理由相信，本作品具有很好的應用前景和擴展推廣價(jià)值。

With the development of the artificial intelligence and computer vision technology, service-oriented robots have appeared in various fields. Considering the unique sports style and complex venues condition of golf, there is great value in the research of caddie robot of golf. At present, a number of corresponding products are introduced to the world as a certain kind of success from domestic and foreign manufacturers, most of which are based on GPS navigation system or radio frequency remote control.

This robot is designed on the basis of Intel dual-core processor, integrating the technologies of RF wireless communication, ultrasonic ranging, computer vision, pattern recognition and so on, so that it can identify and track the moving objects. At present, there are a great many mature research results, in terms of object tracking which is in the static background. but the study of the moving object tracking when both foreground and background are moving is still in its initial stage, there is no mature technique to solve this problem . This work is an innovative application of the computer vision technology in object tracking area. Integrating information from multi-sensors, the robot solves the problem of tracking moving objects with moving cameras, which has achieved good results.

To take full advantage of the dual-core platform, the work adopts the technology of dual-core multi-threaded optimization based on OpenMP standards. So that the robustness and real-time of the work has been enhanced. In addition, our research results can be easily applied to other areas, such as smart toys, intelligent monitoring care, the military patrol, and so on. we are confident that the work will have a good prospect and great value for promotion.
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