Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/7275
Título: Decentralized Target Tracking based on Multi-Robot Cooperative Triangulation
Autor: Dias, André
Capitan, J.
Merino, L.
Almeida, José
Lima, Pedro
Silva, Eduardo
Palavras-chave: Decentralised control
Image sensors
Mobile robots
Multi-robot systems
Robot vision
Object tracking
Sensor fusion
Data: 2015
Editora: IEEE
Relatório da Série N.º: ICRA;2015
Resumo: 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 incertainties, 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.
URI: http://hdl.handle.net/10400.22/7275
DOI: 10.1109/ICRA.2015.7139676
Versão do Editor: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7139676&tag=1
Aparece nas colecções:ISEP – LSA – Artigos

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