A mobile robot based on embedded system can meet the requirement of low energy cost and miniaturization. An embedded system for moving target tracking is designed in this paper. By combining with wavelet transmission, an improved algorithm of particle filter with wavelet particles is proposed for tracking maneuver target, and then a scheme of optimization is also proposed to enhance the real-time property of the system. Experimental results show that the system can be suitable for real-time target tracking applications.
Target tracking algorithm is used widely in many fields, such as robot vision system, intelligent surveillance and medicine, but computational complexity and lack of dedicated embedded system for real-time processing have affected its application. This paper presents a method that combines embedded system, smart camera and mobile robot for detecting and tracking the moving targets. On the basis of particle filter algorithm, mean shift embedded particle filter algorithm is proposed and implemented on embedded platform with ARM+DSP dual core framework. At last, the whole system is optimized to improve the real-time property. The proposed method has a very powerful data processing ability, which can offer a high reliability for the navigation of a mobile robot.
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