Multi-Robot Sensor Fusion Target Tracking With Observation Constraints
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...
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| Published in: | IEEE access Vol. 9; pp. 52557 - 52568 |
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| Main Authors: | , , , |
| Format: | Journal Article |
| Language: | English |
| Published: |
Piscataway
IEEE
2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subjects: | |
| Online Access: | Get full text |
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| Summary: | 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. |
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| ISSN: | 2169-3536 2169-3536 |
| DOI: | 10.1109/ACCESS.2021.3070180 |