Multi-robot cooperative stereo for outdoor scenarios

Detalhes bibliográficos
Autor(a) principal: Dias, André
Data de Publicação: 2013
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/10400.22/7289
Resumo: 13th International Conference on Autonomous Robot Systems (Robotica), 2013
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spelling Multi-robot cooperative stereo for outdoor scenarios3D localizationAGVDDF multitarget tracking approachMAVAutonomous ground vehicleComputational capabilities13th International Conference on Autonomous Robot Systems (Robotica), 2013In this paper, we propose a cooperative perception framework for multi-robot real-time 3D high dynamic target estimation in outdoor scenarios based on monocular camera available on each robot. The relative position and orientation between robots establishes a flexible and dynamic stereo baseline. Overlap views subject to geometric constraints emerged from the stereo formulation, which allowed us to obtain a decentralized cooperative perception layer. Epipolar constraints related to the global frame are applied both in image feature matching and to feature searching and detection optimization in the image processing of robots with low computational capabilities. In contrast to classic stereo, the proposed framework considers all sources of uncertainty (in localization, attitude and image detection from both robots) in the determination of the objects best 3D localization and its uncertainty. The proposed framework can be later integrated in a decentralized data fusion (DDF) multi-target tracking approach where it can contribute to reduce rumor propagation data association and track initialization issues. We demonstrate the advantages of this approach in real outdoor scenario. This is done by comparing a stereo rigid baseline standalone target tracking with the proposed multi-robot cooperative stereo between a micro aerial vehicle (MAV) and an autonomous ground vehicle (AGV).IEEERepositório Científico do Instituto Politécnico do PortoDias, AndréAlmeida, JoséLima, PedroSilva, Eduardo2015-12-29T11:08:07Z20132013-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.22/7289eng978-1-4799-1246-910.1109/Robotica.2013.6623531info: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:RCAAP2023-03-13T12:47:29Zoai:recipp.ipp.pt:10400.22/7289Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:27:37.181842Repositório 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 Multi-robot cooperative stereo for outdoor scenarios
title Multi-robot cooperative stereo for outdoor scenarios
spellingShingle Multi-robot cooperative stereo for outdoor scenarios
Dias, André
3D localization
AGV
DDF multitarget tracking approach
MAV
Autonomous ground vehicle
Computational capabilities
title_short Multi-robot cooperative stereo for outdoor scenarios
title_full Multi-robot cooperative stereo for outdoor scenarios
title_fullStr Multi-robot cooperative stereo for outdoor scenarios
title_full_unstemmed Multi-robot cooperative stereo for outdoor scenarios
title_sort Multi-robot cooperative stereo for outdoor scenarios
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 3D localization
AGV
DDF multitarget tracking approach
MAV
Autonomous ground vehicle
Computational capabilities
topic 3D localization
AGV
DDF multitarget tracking approach
MAV
Autonomous ground vehicle
Computational capabilities
description 13th International Conference on Autonomous Robot Systems (Robotica), 2013
publishDate 2013
dc.date.none.fl_str_mv 2013
2013-01-01T00:00:00Z
2015-12-29T11:08:07Z
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/10400.22/7289
url http://hdl.handle.net/10400.22/7289
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 978-1-4799-1246-9
10.1109/Robotica.2013.6623531
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
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
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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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