关键词: 智能机器人, 目标检测, 空间金字塔, 特征集成, 双通道串行检测

Abstract: With the accelerated study of artificial intelligence in recent years,robots had become research hotspot due to complex demand on recognition,detection and control.By taking NAO soccer robots as the example,aiming at the difficulty of object recognition in competition with complex background,variable illumination and viewpoints,a real-time object detection method based on spatial pyramid and integrated features was proposed.To address the problem caused by different sights,the multi-scale detection was introduced by constructing Gaussian spatial pyramid space through the original image.Furthermore,a dual-channel serial detection framework was proposed,and HOG-PCA basic detector with linear support vector machine which had fast speed and low undetected rate were used to make preliminary detection;an advanced RGB-SIFT-PCA/BOVW detector and random forests with high precision and low error rate were used for secondary screening.Non-maximum suppression algorithm was adopted to remove redundant bounding boxes.Experimental results demonstrated that the proposed method achieved high robustness and real-time performance in intelligent robot object recognition task.

Key words: intelligent robot, object detection, spatial pyramid, integrated features, dual-channel serial detection