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Double-robot dynamic stereo vision algorithm based on UKF and its application in moving target tracking
Dong HY(董慧颖); Lu, Xue; He YQ(何玉庆); Chen SF(陈盛福); Han JD(韩建达)
作者部门机器人学研究室
关键词Algorithms Robots State Estimation Stereo Vision Surface Discharges Target Tracking
发表期刊Advances in Information Sciences and Service Sciences
ISSN1976-3700
2012
卷号4期号:18页码:263-270
收录类别EI
EI收录号20124415617377
产权排序3
摘要Cooperation between air and ground robots has gradually been one of the latest research directions in robotics, wherein position of ground robot assisted by air robots is a key problem to be solved. This paper, therefore, mainly focuses on the problem of high precise 3D moving target observation. Firstly, a new so-called dynamical stereo-vision system, composed of multiple air robots with vision sensor mounted, is proposed and the corresponding observation algorithm is studied. Secondly, in order to improve the observation precision and realize persistent observation, UKF algorithm is utilized to form a new method for moving target observation and tracking. Subsequently, formation control algorithm is designed to make the air robots keep tracking the interested moving target. Finally, experiments are conducted with respect to a new-designed platform, called indoor multiple-rotor-craft-robot system, to verify the feasibility and validity of the study.
语种英语
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/10629
专题机器人学研究室
作者单位1.Shenyang Ligong University, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, China
推荐引用方式
GB/T 7714
Dong HY,Lu, Xue,He YQ,et al. Double-robot dynamic stereo vision algorithm based on UKF and its application in moving target tracking[J]. Advances in Information Sciences and Service Sciences,2012,4(18):263-270.
APA Dong HY,Lu, Xue,He YQ,Chen SF,&Han JD.(2012).Double-robot dynamic stereo vision algorithm based on UKF and its application in moving target tracking.Advances in Information Sciences and Service Sciences,4(18),263-270.
MLA Dong HY,et al."Double-robot dynamic stereo vision algorithm based on UKF and its application in moving target tracking".Advances in Information Sciences and Service Sciences 4.18(2012):263-270.
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