Vision-based cooperative simultaneous localization and tracking
Vision-based cooperative simultaneous localization and tracking
复制标题
基于视觉的协同同步定位与跟踪
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
C. Wang
中科院分区：
文献类型：
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作者：
Chun;Shao;C. Wang
定位是自主机器人最基本的能力之一。协作定位在多机器人定位中已被证明是有效的。然而，附近的运动目标可能会降低合作定位的性能。在本文中，我们证明了合作的同时定位和跟踪方法是上级在具有挑战性的情况下。定位和运动目标跟踪是互惠互利的。所提出的方法进行评估，使用人形机器人在RoboCup的环境中，只使用不确定的数据从车载摄像机和里程计。激光扫描仪地面真实数据实验结果验证了本文提出的基于视觉的协同同时定位与跟踪算法的准确性和可行性。
Localization is one of the most essential capabilities of autonomous robots. Cooperative localization has been proved to be effective in multi-robot localization. However, nearby moving objects could degrade the cooperative localization performance. In this paper, we demonstrate that the cooperative simultaneous localization and tracking approach is superior in challenging scenarios. Localization and moving object tracking are mutually beneficial. The proposed approach is evaluated using humanoid robots in the RoboCup environment in which only uncertain data from onboard cameras and odometry are used. Ample experimental results with ground truthing from laser scanners demonstrate the accuracy and feasibility of the proposed vision-based cooperative simultaneous localization and tracking algorithm.