Visual object tracking for mobile robots based on SAM-TRACK

Abstract

The application of visual object tracking SAM-TRACK is widespread. For the problem of robot positioning and navigation, a single laser sensor obtains less information. Adding a depth camera to provide visual information will enhance the robustness of the system. Design a system for visual object tracking based on laser SLAM. Identify and segment targets by clicking, drawing edges, and inputting text, and calculate the target position by comparing the segmentation results with the depth map. At the same time, track the target in real-time to control the robot to ultimately reach the target position. Experiments have shown that multiple input methods can effectively achieve segmentation; By comparing with SiamRPN, it has been proven that the system is more efficient.