A small family service robot system with uncalibrated monocular camera for visual servoing tracking fast moving family targets in short range

Abstract

Small family service robots are essential applications in service robots, and their accurate tracking of moving targets is the primary condition for robot-human interaction. Compared with long-range target tracking, the limited family space leads to the short distance between the robot and the target, which often leads to the problem of large circumferential relative angular velocity between the robot and the moving target. It dramatically reduces the ability of the robot to track the fast target motion at close range and at different scales. In this paper, a novel family service robot system based on monocular RGB and robot terminal calculation is proposed to track fast-moving targets in close range. Based on the construction of the robot body with two rotation directions, the neural network model is used for visual detection and recognition of the target object. Combined with the historical information of the target, the new relative azimuth information of the target object is calculated to control the changes in the pitch angle and yaw angle of the robot body and realize the servo tracking of the robot vision on the moving target. Experimental results confirm the visual servoing tracking ability of the tiny family service robot system for indoor moving objects, which will positively promote the application of small intelligent service robots.