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中文摘要：
为达到对运动磁环快速准确的追踪，实现机械手实时分拣抓取，分析了运动目标检测算法，基于磁环运动建立卡尔曼滤波状态估计模型，对于连续采集图像序列利用卡尔曼滤波背景估计检测算法来确定感兴趣区域，经Halcon图像处理，实现对运动目标的实时监测追踪。仿真对比验证了卡尔曼滤波能避免背景、光照扰动问题，准确地估计背景提取前景，不会对运动物体出现漏检情况，系统可靠性高、适用性强，为运动物体实时追踪提供了理论依据。
英文摘要：
In order to track the moving magnet ring quickly and precisely, and realize the real-time sorting and scratching of manipulator, the moving object detection algorithm is analyzed. On the basis of the magnet ring motion, a state estimation model of Kalman filtering was established. The background estimation detection algorithm of Kalman filtering is used to determine the region of interest of the image sequence acquired continuously. The image sequence is performed with image processing based on Halcon to realize the real-time monitoring and tracking of the moving object. The simulation contrastive verification results show that the Kalman filtering can avoid the problems of background and illumination disturbances, estimate the background and extract the foreground precisely, won＇t appear the situation of missed detection moving objects, and the system has high stability and strong applicability, which provides a theoretical basis for the real-time tracking of moving objects.
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