Simulation of Soccer Robot Target Tracking Based on MR Mixed Reality
When a robot tracks a football,strong motion randomness and the small scale of the target increase the adaptive tracking difficulty,resulting in the update error of the target model.Therefore,a target tracking method for the football robot based on MR was put forward.Firstly,we built a MR platform to enable the robot to complete human-computer interaction in VR scenes,and thus improve target tracking performance while ensuring target tracking secu-rity.Secondly,we used the frame difference method to obtain the target model.Meanwhile,we used the projection method to project the binary image onto it and filter the differential image,thus obtaining the histogram of the robot in the target template and candidate target.On this basis,the target model of the robot was updated to achieve target tracking of the football robot based on MR.Experimental results prove that when the tracking error threshold is 0.8 mm,the tracking accuracy and success rate of the proposed method can reach more than 95%,and the average time consumption is 55.17 ms.When the target is occluded,the method can still achieve high-precision tracking.
Mixed realityFootball robotTarget trackingHuman-computer interactionFrame difference meth-odTarget template area