Tracking Multiple Unmanned Aerial Vehicles on SE(3) Using a Monocular Camera
Tracking Multiple Unmanned Aerial Vehicles on SE(3) Using a Monocular Camera
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DOI：
10.1109/taes.2022.3231245
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发表时间：
2023-08
影响因子：
4.4
通讯作者：
Mark E. Petersen;Jaron Ellingson;R. Beard
中科院分区：
文献类型：
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作者：
Mark E. Petersen;Jaron Ellingson;R. Beard
本文提出了MTT - $\text{SE}(3)$，一种基于视觉的多目标跟踪算法，用于在密集杂波环境下在特殊欧几里得群$\text{SE}(3)$上运动的目标。目标状态由$\text{SE}(3)$中的位姿和飞行器的扭转组成。本文的贡献包括开发了一种基于$\text{SE}(3)\times\mathbb{R}^{6}$设计的稳健的航迹初始化方案，以及一种航迹到航迹关联与融合算法，用于合并在$\text{SE}(3)\times\mathbb{R}^{6}$上演变的相似航迹。通过使用固定单目相机同时跟踪三个多旋翼飞行器，在硬件上验证了MTT - $\text{SE}(3)$的性能。将结果与一种使用线性、时不变的近似匀速、匀加速和匀加加速度模型的多目标跟踪算法进行了比较，结果表明MTT - $\text{SE}(3)$改进了几个传统的跟踪指标。
This article presents MTT-$\text{SE}\mathopen {}(3)\mathclose {}$, a vision-based multiple-target tracking algorithm for targets that evolve on the special Euclidean group $\text{SE}\mathopen {}(3)\mathclose {}$ in dense clutter. The target state consists of the pose in $\text{SE}\mathopen {}(3)\mathclose {}$ and the twist of the vehicle. Contributions of the article include the development of a robust track initialization scheme designed on $\text{SE}\mathopen {}(3)\mathclose {}\times \mathbb {R}^{6}$, and a track-to-track association and fusion algorithm to merge similar tracks evolving on $\text{SE}\mathopen {}(3)\mathclose {}\times \mathbb {R}^{6}$. The performance of MTT-$\text{SE}\mathopen {}(3)\mathclose {}$ is verified in hardware by simultaneously tracking three multirotors using a stationary monocular camera. The results are compared to a multiple-target tracking algorithm that uses linear, time-invariant nearly constant velocity, acceleration, and jerk models, where it is shown that MTT-$\text{SE}\mathopen {}(3)\mathclose {}$ improves several traditional tracking metrics.