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摘要：本发明公开了一种基于卡尔曼滤波的复杂场景下的LED灯追踪方法及其系统，该系统包括依次连接的LED发光频率控制子系统、机器人CMOS摄像头子系统、图像处理子系统、卡尔曼滤波器。其中，所述的LED发光频率控制子系统由不同频率的脉冲序列控制；所述的机器人CMOS摄像头子系统可以捕获到黑白条纹相间的LED图像；所述的图像处理子系统对LED图像进行滤波，识别LED并定位LED的位置；所述的卡尔曼滤波器通过预测与测量得到更加准确的LED位置信息。本发明将卡尔曼滤波技术应用于LED的追踪，提高了LED的追踪精度，并且具有很强的抗噪抗干扰性能，具有广阔的应用前景。
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Abstract： The invention discloses an LED (Light Emitting Diode) lamp tracking method and system under a complex scene based on Kalman filtering. The system comprises an LED light emitting frequency control subsystem, a robot CMOS (Complementary Metal-Oxide-Semiconductor) camera subsystem, an image processing subsystem and a Kalman filter, wherein the LED light emitting frequency control subsystem, the robotCMOS camera subsystem, the image processing subsystem and the Kalman filter are connected in sequence; the LED light emitting frequency control subsystem is controlled by pulse sequences of differentfrequencies; the robot CMOS camera subsystem can capture an LED image with alternate black and white stripes; the image processing subsystem carries out filtering on an LED image, identifies the LEDand positions the position of the LED; the Kalman filter carries out prediction and measurement to obtain more accurate LED position information. According to the LED lamp tracking system, the Kalmanfiltering technology is applied to LED tracking, the tracking accuracy of the LED is improved, and in addition, the LED lamp tracking system has the advantages of high anti-noise anti-interference performance and wide application prospect.
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申请人： 华南理工大学
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Applicant： UNIV SOUTH CHINA TECH
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地址： 510640 广东省广州市天河区********(隐藏)
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发明(设计)人： 吴玉香 巫朝政 关伟鹏 陈艺荣 周泽鑫 方良韬
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Inventor： WU YUXIANG; WU CHAOZHENG; GUAN WEIPENG; CHEN YIRONG; ZHOU ZEXIN; FANG LIANGTAO
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主分类号： G01C21/20(2006.01)I
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分类号： G01C21/20(2006.01)I H05B33/08(2006.01)I H04N5/235(2006.01)I
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