IJERT-EMS
IJERT-EMS

Object Recognition and Tracking for Scene Understanding of Outdoor Mobile Robot


Object Recognition and Tracking for Scene Understanding of Outdoor Mobile Robot
Authors : My Ha Le, Dinh Huan Nguyen
Publication Date: 20-03-2017

Authors

Author(s):  My Ha Le, Dinh Huan Nguyen

Published in:   International Journal of Engineering Research & Technology

License:  This work is licensed under a Creative Commons Attribution 4.0 International License.

Website: www.ijert.org

Volume/Issue:   Volume. 6 - Issue. 03 , March - 2017

e-ISSN:   2278-0181

Abstract

This paper proposes a method for object recognition and tracking in scene understanding system of outdoor mobile robot. Firstly, the moving objects in front of robot are detected using optical flow method based on stereo camera system. The information about the size, the distance of object to the robot are extracted in real-time condition. Secondly, the object categories are recognized base on the training data set and the convolutional neural network classifier. Thirdly, the objects are tracked during their appearance in the region of view of camera. The simulation results will demonstrate the effectiveness of this method.

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