Joint Localization of Pursuit Quadcopters and Target Using Monocular Cues

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00219267" target="_blank" >RIV/68407700:21230/14:00219267 - isvavai.cz</a>

Výsledek na webu

<a href="http://link.springer.com/article/10.1007/s10846-014-0081-2" target="_blank" >http://link.springer.com/article/10.1007/s10846-014-0081-2</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/s10846-014-0081-2" target="_blank" >10.1007/s10846-014-0081-2</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Joint Localization of Pursuit Quadcopters and Target Using Monocular Cues

Popis výsledku v původním jazyce

Pursuit robots (autonomous robots tasked with tracking and pursuing a moving target) require accurate tracking of the target?s position over time. One possibly effective pursuit platform is a quadcopter equipped with basic sensors and a monocular camera.However, the combined noise in the quadcopter?s sensors causes large disturbances in the target?s 3D position estimate. To solve this problem, in this paper, we propose a novel method for joint localization of a quadcopter pursuer with a monocular camera and an arbitrary target. Our method localizes both the pursuer and target with respect to a common reference frame. The joint localization method fuses the quadcopter?s kinematics and the target?s dynamics in a joint state space model. We show that predicting and correcting pursuer and target trajectories simultaneously produces better results than standard approaches to estimating relative target trajectories in a 3D coordinate system. Our method also comprises a computationally effic

Název v anglickém jazyce

Joint Localization of Pursuit Quadcopters and Target Using Monocular Cues

Popis výsledku anglicky

Pursuit robots (autonomous robots tasked with tracking and pursuing a moving target) require accurate tracking of the target?s position over time. One possibly effective pursuit platform is a quadcopter equipped with basic sensors and a monocular camera.However, the combined noise in the quadcopter?s sensors causes large disturbances in the target?s 3D position estimate. To solve this problem, in this paper, we propose a novel method for joint localization of a quadcopter pursuer with a monocular camera and an arbitrary target. Our method localizes both the pursuer and target with respect to a common reference frame. The joint localization method fuses the quadcopter?s kinematics and the target?s dynamics in a joint state space model. We show that predicting and correcting pursuer and target trajectories simultaneously produces better results than standard approaches to estimating relative target trajectories in a 3D coordinate system. Our method also comprises a computationally effic

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

JC - Počítačový hardware a software

OECD FORD obor

—

Projekt

<a href="/cs/project/LH11053" target="_blank" >LH11053: Řízení a lokalizace robotických rojů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2014

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Journal of Intelligent and Robotic Systems

ISSN

0921-0296

e-ISSN

—

Svazek periodika

2014

Číslo periodika v rámci svazku

Issue 3-4

Stát vydavatele periodika

NL - Nizozemsko

Počet stran výsledku

18

Strana od-do

613-630

Kód UT WoS článku

000354490300016

EID výsledku v databázi Scopus

2-s2.0-84929523121