Uncertainty based Multi-Robot Cooperative Triangulation

Detalhes bibliográficos
Autor(a) principal: Dias, André
Data de Publicação: 2014
Outros Autores: 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/10400.22/7160
Resumo: The paper presents a multi-robot cooperative framework to estimate the 3D position of dynamic targets, based on bearing-only vision measurements. The uncertainty of the observation provided by each robot equipped with a bearing-only vision system is effectively addressed for cooperative triangulation purposes by weighing the contribution of each monocular bearing ray in a probabilistic manner. The envisioned framework is evaluated in an outdoor scenario with a team of heterogeneous robots composed of an Unmanned Ground and Aerial Vehicle.
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spelling Uncertainty based Multi-Robot Cooperative TriangulationArtificial IntelligenceUser Interfaces and Human Computer InteractionSoftware EngineeringRobotics and AutomationThe paper presents a multi-robot cooperative framework to estimate the 3D position of dynamic targets, based on bearing-only vision measurements. The uncertainty of the observation provided by each robot equipped with a bearing-only vision system is effectively addressed for cooperative triangulation purposes by weighing the contribution of each monocular bearing ray in a probabilistic manner. The envisioned framework is evaluated in an outdoor scenario with a team of heterogeneous robots composed of an Unmanned Ground and Aerial Vehicle.SpringerRepositório Científico do Instituto Politécnico do PortoDias, AndréAlmeida, JoséLima, PedroSilva, Eduardo2015-12-10T16:01:31Z20142014-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.22/7160eng978-3-319-18615-310.1007/978-3-319-18615-3_41metadata only accessinfo: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:RCAAP2023-03-13T12:47:30Zoai:recipp.ipp.pt:10400.22/7160Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:27:38.133534Repositório 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 Uncertainty based Multi-Robot Cooperative Triangulation
title Uncertainty based Multi-Robot Cooperative Triangulation
spellingShingle Uncertainty based Multi-Robot Cooperative Triangulation
Dias, André
Artificial Intelligence
User Interfaces and Human Computer Interaction
Software Engineering
Robotics and Automation
title_short Uncertainty based Multi-Robot Cooperative Triangulation
title_full Uncertainty based Multi-Robot Cooperative Triangulation
title_fullStr Uncertainty based Multi-Robot Cooperative Triangulation
title_full_unstemmed Uncertainty based Multi-Robot Cooperative Triangulation
title_sort Uncertainty based Multi-Robot Cooperative Triangulation
author Dias, André
author_facet Dias, André
Almeida, José
Lima, Pedro
Silva, Eduardo
author_role author
author2 Almeida, José
Lima, Pedro
Silva, Eduardo
author2_role author
author
author
dc.contributor.none.fl_str_mv Repositório Científico do Instituto Politécnico do Porto
dc.contributor.author.fl_str_mv Dias, André
Almeida, José
Lima, Pedro
Silva, Eduardo
dc.subject.por.fl_str_mv Artificial Intelligence
User Interfaces and Human Computer Interaction
Software Engineering
Robotics and Automation
topic Artificial Intelligence
User Interfaces and Human Computer Interaction
Software Engineering
Robotics and Automation
description The paper presents a multi-robot cooperative framework to estimate the 3D position of dynamic targets, based on bearing-only vision measurements. The uncertainty of the observation provided by each robot equipped with a bearing-only vision system is effectively addressed for cooperative triangulation purposes by weighing the contribution of each monocular bearing ray in a probabilistic manner. The envisioned framework is evaluated in an outdoor scenario with a team of heterogeneous robots composed of an Unmanned Ground and Aerial Vehicle.
publishDate 2014
dc.date.none.fl_str_mv 2014
2014-01-01T00:00:00Z
2015-12-10T16:01:31Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
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status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/7160
url http://hdl.handle.net/10400.22/7160
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 978-3-319-18615-3
10.1007/978-3-319-18615-3_41
dc.rights.driver.fl_str_mv metadata only access
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rights_invalid_str_mv metadata only access
eu_rights_str_mv openAccess
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dc.publisher.none.fl_str_mv Springer
publisher.none.fl_str_mv Springer
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
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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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