Tracking System for a Coal Mine Drilling Robot for Low-Illumination Environments
Source abstract
Abstract
In recent years, discriminative correlation filters (DCF) based trackers have been widely used in mobile robots due to their efficiency. However, underground coal mines are typically a low illumination environment, and tracking in this environment is a challenging problem that has not been adequately addressed in the literature. Thus, this paper proposes a Low-illumination Long-term Correlation Tracker (LLCT) and designs a visual tracking system for coal mine drilling robots. A low-illumination tracking framework combining image enhancement strategies and long-time tracking is proposed. A long-term memory correlation filter tracker with an interval update strategy is utilized. In addition, a local area illumination detection method is proposed to prevent the failure of the enhancement algorithm due to local over-exposure. A convenient image enhancement method is proposed to boost efficiency. Extensive experiments on popular object tracking benchmark datasets demonstrate that the proposed tracker significantly outperforms the baseline trackers, achieving high real-time performance. The tracker’s performance is verified on an underground drilling robot in a coal mine. The results of the field experiment demonstrate that the performance of the novel tracking framework is better than that of state-of-the-art trackers in low-illumination environments.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Video Surveillance and Tracking Methods · Fire Detection and Safety Systems · Advanced Measurement and Detection Methods
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China
Jiangsu Collaborative Innovation Center of Intelligent Mining Equipment, China University of Mining and Technology, Xuzhou 221008, China
School of Intelligent Manufacturing, Jiangsu Vocational Institute of Architectural Technology, Xuzhou 221116, China
Funding
National Key Research and Development Program of China · Priority Academic Program Development of Jiangsu Higher Education Institutions of China · Natural Science Foundation of the Jiangsu Higher Education Institutions of China
References (48)
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