Paper Info
Title
Data fusion in ubiquitous networked robot systems for urban services.
Abstract
There is a clear trend in the use of robots to accomplish services that can help humans. In this paper, robots acting in urban environments are considered for the task of person guiding. Nowadays, it is common to have ubiquitous sensors integrated within the buildings, such as camera networks, and wireless communications like 3G or WiFi. Such infrastructure can be directly used by robotic platforms. The paper shows how combining the information from the robots and the sensors allows tracking failures to be overcome, by being more robust under occlusion, clutter, and lighting changes. The paper describes the algorithms for tracking with a set of fixed surveillance cameras and the algorithms for position tracking using the signal strength received by a wireless sensor network (WSN). Moreover, an algorithm to obtain estimations on the positions of people from cameras on board robots is described. The estimate from all these sources are then combined using a decentralized data fusion algorithm to provide an increase in performance. This scheme is scalable and can handle communication latencies and failures. We present results of the system operating in real time on a large outdoor environment, including 22 nonoverlapping cameras, WSN, and several robots.
Year
DOI
Venue
2012
10.1007/s12243-012-0311-1
Annales des Télécommunications
Keywords
Field
DocType
Ubiquitous networked robots, Decentralized data fusion, Service and social robotics, Person tracking
Robotic systems,Wireless,Clutter,Camera network,Electronic engineering,Real-time computing,Sensor fusion,Signal strength,Engineering,Robot,Wireless sensor network,Embedded system
Journal
Volume
Issue
ISSN
67
7-8
1958-9395
Citations 
PageRank 
References 
4
0.39
33
Authors
6
Name
Order
Citations
PageRank
Luis Merino132526.09
Andrew Gilbert2906.23
Jesus Capitan340.39
Richard Bowden41840118.50
John Illingworth527511.56
Aníbal Ollero61109123.55