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题名: Double-robot dynamic stereo vision algorithm based on UKF and its application in moving target tracking
作者: 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
刊名: Advances in Information Sciences and Service Sciences
ISSN号: 1976-3700
出版日期: 2012
卷号: 4, 期号:18, 页码:263-270
收录类别: EI
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.
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/10629
Appears in Collections:机器人学研究室_期刊论文

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