Multi-robot cooperative spherical-object tracking in 3D space based on particle filters

被引：21

作者：

Ahmad, Aamir ^{[1
]}

Lima, Pedro ^{[1
]}

机构：

[1] Inst Super Tecn, Inst Syst & Robot, Lisbon, Portugal

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2013年 / 61卷 / 10期

关键词：

Multi-robot systems; Visual tracking; Cooperative object tracking; Observation models; Particle filter; Sensor fusion; Robot soccer; Tracking in 3D; Spherical object detection; Fish-eye lenses;

D O I：

10.1016/j.robot.2012.12.008

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article presents a cooperative approach for tracking a moving spherical object in 3D space by a team of mobile robots equipped with sensors, in a highly dynamic environment. The tracker's core is a particle filter, modified to handle, within a single unified framework, the problem of complete or partial occlusion for some of the involved mobile sensors, as well as inconsistent estimates in the global frame among sensors, due to observation errors and/or self-localization uncertainty. We present results supporting our approach by applying it to a team of real soccer robots tracking a soccer ball, including comparison with ground truth. (C) 2013 Elsevier B.V. All rights reserved.

引用

页码：1084 / 1093

页数：10

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