Explicit coordinated localization using common visual objects
Explicit coordinated localization using common visual objects
复制标题
使用常见视觉对象的显式协调定位
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
F. Hernández
中科院分区：
文献类型：
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作者：
J. M. Peula;Javier Cebolla;C. Urdiales;F. Hernández
多机器人系统的定位问题是多智能体系统中的一个关键问题。在许多情况下，特别是涉及腿式机器人，如Robocup足球比赛，它依赖于已知位置的预定义地标。然而，当多个对象处于运动中时，由于视野中的代理而导致的视觉遮挡使得这种定位在温和的时间段内不可行。如果地标不在视野内，也会发生这种情况。本文提出了一种技术，让机器人估计其位置相对于对象或机器人共享任何视觉数据，它与它的队友。共享数据用于通过立体视觉估计观看同一对象的机器人的相对位置。其余的机器人可以通过三角测量进行定位，并获取团队其他成员可以看到的隐藏或未知物体的位置信息。该系统已经用两个索尼的Aibo ERS 7机器人和一个Aiball机器人进行了测试。
Localization in multi-robot systems is a key problem in multi agent systems. In many cases, specially involving legged robots, like the Robocup soccer competition, it relies on predefined landmarks at known locations. However, when several objects are in motion, vision occlusions due to agents in the field of view make this kind of localization unfeasible for mild time periods. This also happens if landmarks are not within the field of view. This paper presents a technique to let a robot estimate its position with respect to objects or robots by sharing whatever visual data it has with its teammates. Shared data is used to estimate the relative positions of robots watching the same object via stereoscopy. The rest of the robots can be localized via triangulation and acquire information on the position of hidden or unknown objects that other members of the team can see. The system has been tested with two Aibo ERS 7 robots from Sony and an Aiball.