Details

Autor(en) / Beteiligte

• Amorim, Thulio G. S.
• Souto, Leonardo A.
• P. Do Nascimento, Tiago
• Saska, Martin

Titel

Multi-Robot Sensor Fusion Target Tracking With Observation Constraints

Ist Teil von

• IEEE access, 2021, Vol.9, p.52557-52568

Ort / Verlag

Piscataway: IEEE

Erscheinungsjahr

2021

Quelle

Free E-Journal (出版社公開部分のみ）

Beschreibungen/Notizen

• 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.