Multi-Robot Sensor Fusion Target Tracking with Observation Constraints

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00353590" target="_blank" >RIV/68407700:21230/21:00353590 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/ACCESS.2021.3070180" target="_blank" >https://doi.org/10.1109/ACCESS.2021.3070180</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ACCESS.2021.3070180" target="_blank" >10.1109/ACCESS.2021.3070180</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Multi-Robot Sensor Fusion Target Tracking with Observation Constraints

Popis výsledku v původním jazyce

In Mobile Robotics, visual tracking is an extremely important sub-problem. Some solutions found to reduce the problems arising from partial and total occlusion are the use of multiple robots. In this work, we propose a three-dimensional space target tracking based on a constrained multi-robot visual data fusion on the occurrence of partial and total occlusion. To validate our approach we first implemented a non-cooperative visual tracking where only the data from a single robot is used. Then, a cooperative visual tracking was tested, where the data from a team of robots is fused using a particle filter. To evaluate both approaches, a visual tracking environment with partial and total occlusions was created where the tracking was performed by a team of robots. The result of the experiment shows that the non-cooperative approach presented a lower computational cost than the cooperative approach but the inferred trajectory was impaired by the occlusions, a fact that did not occur in the cooperative approach due to the data fusion.

Název v anglickém jazyce

Multi-Robot Sensor Fusion Target Tracking with Observation Constraints

Popis výsledku anglicky

In Mobile Robotics, visual tracking is an extremely important sub-problem. Some solutions found to reduce the problems arising from partial and total occlusion are the use of multiple robots. In this work, we propose a three-dimensional space target tracking based on a constrained multi-robot visual data fusion on the occurrence of partial and total occlusion. To validate our approach we first implemented a non-cooperative visual tracking where only the data from a single robot is used. Then, a cooperative visual tracking was tested, where the data from a team of robots is fused using a particle filter. To evaluate both approaches, a visual tracking environment with partial and total occlusions was created where the tracking was performed by a team of robots. The result of the experiment shows that the non-cooperative approach presented a lower computational cost than the cooperative approach but the inferred trajectory was impaired by the occlusions, a fact that did not occur in the cooperative approach due to the data fusion.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/GA20-10280S" target="_blank" >GA20-10280S: Spolehlivé kompaktní skupiny miniaturních vzdušných robotů proměnného tvaru řízené senzorickým vnímáním</a><br>

Návaznosti

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

Rok uplatnění

2021

Kód důvěrnosti údajů

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

Název periodika

IEEE Access

ISSN

2169-3536

e-ISSN

2169-3536

Svazek periodika

2021

Číslo periodika v rámci svazku

March

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

12

Strana od-do

52557-52568

Kód UT WoS článku

000639858300001

EID výsledku v databázi Scopus

2-s2.0-85103763573