Decentralized Target Tracking based on Multi-Robot Cooperative Triangulation

Detalhes bibliográficos
Autor(a) principal: Dias, André
Data de Publicação: 2015
Outros Autores: Capitan, J., Merino, L., Almeida, José, Lima, Pedro, Silva, Eduardo
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10400.22/7275
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.
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spelling Decentralized Target Tracking based on Multi-Robot Cooperative TriangulationDecentralised controlImage sensorsMobile robotsMulti-robot systemsRobot visionObject trackingSensor fusionTarget 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.IEEERepositório Científico do Instituto Politécnico do PortoDias, AndréCapitan, J.Merino, L.Almeida, JoséLima, PedroSilva, Eduardo2015-12-28T17:02:41Z20152015-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.22/7275eng10.1109/ICRA.2015.7139676info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-03-13T12:47:27Zoai:recipp.ipp.pt:10400.22/7275Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:27:35.387431Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Decentralized Target Tracking based on Multi-Robot Cooperative Triangulation
title Decentralized Target Tracking based on Multi-Robot Cooperative Triangulation
spellingShingle Decentralized Target Tracking based on Multi-Robot Cooperative Triangulation
Dias, André
Decentralised control
Image sensors
Mobile robots
Multi-robot systems
Robot vision
Object tracking
Sensor fusion
title_short Decentralized Target Tracking based on Multi-Robot Cooperative Triangulation
title_full Decentralized Target Tracking based on Multi-Robot Cooperative Triangulation
title_fullStr Decentralized Target Tracking based on Multi-Robot Cooperative Triangulation
title_full_unstemmed Decentralized Target Tracking based on Multi-Robot Cooperative Triangulation
title_sort Decentralized Target Tracking based on Multi-Robot Cooperative Triangulation
author Dias, André
author_facet Dias, André
Capitan, J.
Merino, L.
Almeida, José
Lima, Pedro
Silva, Eduardo
author_role author
author2 Capitan, J.
Merino, L.
Almeida, José
Lima, Pedro
Silva, Eduardo
author2_role author
author
author
author
author
dc.contributor.none.fl_str_mv Repositório Científico do Instituto Politécnico do Porto
dc.contributor.author.fl_str_mv Dias, André
Capitan, J.
Merino, L.
Almeida, José
Lima, Pedro
Silva, Eduardo
dc.subject.por.fl_str_mv Decentralised control
Image sensors
Mobile robots
Multi-robot systems
Robot vision
Object tracking
Sensor fusion
topic Decentralised control
Image sensors
Mobile robots
Multi-robot systems
Robot vision
Object tracking
Sensor fusion
description 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.
publishDate 2015
dc.date.none.fl_str_mv 2015-12-28T17:02:41Z
2015
2015-01-01T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/7275
url http://hdl.handle.net/10400.22/7275
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1109/ICRA.2015.7139676
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
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dc.publisher.none.fl_str_mv IEEE
publisher.none.fl_str_mv IEEE
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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