【摘要】 针对机械手运动在图像序列空间的轨迹分布,提出一种基于时空轨迹线的动态Snake跟踪模型.定义相应的能量函数,可使其在机械手轨迹分布上取得极小,通过Snake能量的轨迹收敛实现对机械手运动点的跟踪定位.利用轨迹能量系数的动态调节,可避免Snake搜索过程陷入局部极小.使用平方轨迹最小二乘预测器对轨迹点位置进行预测,可提高Snake搜索的实时性和准确性.微装配机械手运动实验证明了该模型及跟踪算法的有效性.更多还原

【Abstract】 A dynamic active contour model for spatio-temporal trajectory is proposed to track robotic manipulator motion in image sequence space.The model employs a snake function with minimum energy at the trajactory distribution.The manipulator is localized through searching the converged energy point set.Energy weights in the function are real-time adjusted to avoid local minima during convergence.To improve the snake searching efficiency,a quadratic-trajectory least square estimator is developed to predict motion position before tracking.Experimental results of tracking micromanipulator motion demonstrate the effectiveness of the proposed model.更多还原