Vision-based tracking control method for quadruped robot, and quadruped robot system

A quadruped robot system, comprising a panoramic camera and a controller configured on a quadruped robot, wherein the panoramic camera comprises at least three cameras arranged in a non-coplanar array, with optical axes of the cameras oriented in different directions such that the cameras collectively cover a 360-degree horizontal range;

• images captured by adjacent cameras have overlapping regions at edges of fields of view, and the controller is configured to control the quadruped robot to move according to the following method:
• receiving in real time unilateral images captured by each of the cameras at a same moment, and stitching the unilateral images based on an image stitching algorithm to synthesize a panoramic image corresponding to a current moment;
• generating first position coordinates of a moving target and second position coordinates of an obstacle in a current environment based on the panoramic image;
• formulating or modifying a navigation path for tracking the moving target based on the first position coordinates and the second position coordinates;
• and
• controlling the quadruped robot to move along the navigation path.