Name
Abstract | ||
|---|---|---|
Target tracking with bearing-only sensors is a challenging problem when the target moves dynamically in complex scenarios. Besides the partial observability of such sensors, they have limited field of views, occlusions can occur, etc. In those cases, cooperative approaches with multiple tracking robots are interesting, but the different sources of uncertain information need to be considered appropriately in order to achieve better estimates. Even though there exist probabilistic filters that can estimate the position of a target dealing with uncertainties, bearing-only measurements bring usually additional problems with initialization and data association. In this paper, we propose a multi-robot triangulation method with a dynamic baseline that can triangulate bearing-only measurements in a probabilistic manner to produce 3D observations. This method is combined with a decentralized stochastic filter and used to tackle those initialization and data association issues. The approach is validated with simulations and field experiments where a team of aerial and ground robots with cameras track a dynamic target. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/ICRA.2015.7139676 | IEEE International Conference on Robotics and Automation |
Keywords | Field | DocType |
decentralised control,image sensors,mobile robots,multi-robot systems,object tracking,robot vision,sensor fusion,3D observations,aerial robots,bearing-only measurements,bearing-only sensors,cameras,data association,decentralized stochastic filter,decentralized target tracking,ground robots,multiple tracking robots,multirobot cooperative triangulation,multirobot triangulation method,probabilistic filters,uncertain information | Computer vision,Observability,Control theory,Sensor fusion,Triangulation (social science),Video tracking,Artificial intelligence,Engineering,Initialization,Probabilistic logic,Robot,Mobile robot | Conference |
Volume | Issue | ISSN |
2015 | 1 | 1050-4729 |
Citations | PageRank | References |
4 | 0.41 | 12 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| André Dias | 1 | 13 | 6.09 |
| Jesús Capitán | 2 | 19 | 2.43 |
| Luis Merino | 3 | 325 | 26.09 |
| José Almeida | 4 | 12 | 4.32 |