106 / 2016-04-25 09:55:41

A Target Tracking Algorithm for vision based Sea Cucumber Grabbing

9905,9906

Abstract—In order to accurately track sea cucumber on the assembly line to realize automatic grabbing using mechanical arm, an object tracking method based on Meanshift algorithm was proposed. Firstly, the contours of the objects was extracted from the Original image to select tracking target, and then the local image was cropped at the same position and local area in the next frame. Secondly, the edge of the target was extracted by the same method, and edge based Meanshift algorithm was used to search the center location in the local image. Finally, tracking was realized by searching the center location in the next frames one by one. Compared with the color histogram Mean-Shift algorithm(CHMS) algorithm，the proposed algorithm have good tracking performance and the average consuming time is only 11. 04% of the average consuming time of the CHMS algorithm，which prove that the proposed algorithm can satisfy the automatic grabbing requirement of real-time and robustness.