Research on 3D Space Target Following Method of Mobile Robot Based on Binocular Vision

  • Xitong Zhao
  • Lei ChengEmail author
  • Rui Peng
  • Chan Li
  • Xiaoqi Nong
  • Huaiyu Wu
  • Ling Xiong
  • Yang Chen
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 582)


In order to solve the problem of the target following in 3D (three-dimensional) space, the KCF and SGBM fusion algorithm is proposed. In this method, the position information of the target in the camera image is obtained by KCF algorithm, the depth information of the target is calculated by SGBM algorithm, and the three-dimensional coordinate of the target in camera coordinate system is determined. The binocular vision system is set on the mobile robot, and the mobile robot achieves target following through velocity information and angular velocity information. Experiments in different indoor environments show that the algorithm has low hardware requirements, good real-time performance, and high precision. It is suitable for target tracking by a robot in three-dimensional space.


Binocular vision KCF algorithm SGBM algorithm Three-dimensional space Target follow 



This work is supported by four Projects from National Natural Science Foundation of China under grant No. 60705035, No. 61075087, No. 61573263, No. 61273188, National Key Research and Development Program of China under Grant No. 2017YFC08065035-05, Hubei Province Science and Technology Support Project under Grant 2015BAA018, Scientific Research Plan Key Project of Hubei Provincial Department of Education (D20131105), and Zhejiang Open Foundation of the Most Important Subjects, also supported by Zhejiang Provincial Natural Science Foundation under Grant LY16F030007.


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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  • Xitong Zhao
    • 1
  • Lei Cheng
    • 1
    Email author
  • Rui Peng
    • 1
  • Chan Li
    • 1
  • Xiaoqi Nong
    • 1
  • Huaiyu Wu
    • 1
  • Ling Xiong
    • 1
  • Yang Chen
    • 1
  1. 1.Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of EducationWuhan University of Science and TechnologyWuhanChina

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