TARGET TRACKING METHOD AND SYSTEM, AND ROBOT

WIPO Patent Application WO/2023/231098

A1

A target tracking method, a robot, and a target tracking system, relating to the technical field of image recognition. The method comprises: obtaining a visible light image and a depth image of a marker attached to the surface of a tracked target, wherein the marker is provided with alternating black and white checkerboard patterns, and two-dimensional codes are provided in white checkerboards; performing two-dimensional code detection on the visible light image to obtain two-dimensional code corner 2D coordinates and a two-dimensional code ID in the marker; obtaining checkerboard corner 3D coordinates in the marker according to the depth image, the two-dimensional code corner 2D coordinates and the two-dimensional code ID; and obtaining position information of the tracked target in a 3D space according to the checkerboard corner 3D coordinates, and after the position information is continuously obtained, controlling, by means of an execution mechanism of the robot, the robot to follow the movement of the tracked target.

ZHU SHIJIE (CN)
SHE FENGKE (CN)
ZHENG GANGTIE (CN)
PAN YONGWEI (CN)
ZHAO ZHE (CN)
SONG FEI (CN)

PCT/CN2022/101290

December 07, 2023

June 24, 2022

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UNIV TSINGHUA (CN)
BEIJING TSINGHUA CHANGGUNG HOSPITAL (CN)

G06T7/70; G06K7/14; G06T7/20; G06V10/74

CN114224489A	2022-03-25
KR102206108B1	2021-01-21
CN111179356A	2020-05-19
CN112132906A	2020-12-25
CN111243032A	2020-06-05
CN110146030A	2019-08-20

TSINGYIHUA INTELLECTUAL PROPERTY LLC (CN)

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