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Active cooperative observation of A 3D moving target using two dynamical monocular vision sensors
Gu F(谷丰); He YQ(何玉庆); Han JD(韩建达)
Department机器人学研究室
Source PublicationAsian Journal of Control
ISSN1561-8625
2014
Volume16Issue:3Pages:657–668
Indexed BySCI ; EI
EI Accession number20142217756962
WOS IDWOS:000335958100004
Contribution Rank1
KeywordMotion Planning Vision
AbstractVision-based 3D moving target observation (3D-VMTO) is a central problem in the field of mobile robotics. In this paper, a new 3D-VMTO method called active cooperative observation is proposed through cooperation among two dynamical monocular vision sensors (MVSs). Under this method, an algorithm based on an extended set-membership filter is designed to fuse observations from different MVSs. An optimal observation condition is then introduced as the constraint into the relative velocity coordinates based path planning scheme, so as to reduce the influence of relative positioning among MVSs and their target on cooperative observation results. Experiments on a multiple rotor-flying-robots testbed demonstrate the validity and feasibility of the proposed method.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectAutomation & Control Systems
WOS KeywordSET-MEMBERSHIP FILTER ; VISUAL TRACKING
WOS Research AreaAutomation & Control Systems
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/14722
Collection机器人学研究室
Corresponding AuthorGu F(谷丰)
AffiliationState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Nanta Street, 114, Shenyang 110016, China
Recommended Citation
GB/T 7714
Gu F,He YQ,Han JD. Active cooperative observation of A 3D moving target using two dynamical monocular vision sensors[J]. Asian Journal of Control,2014,16(3):657–668.
APA Gu F,He YQ,&Han JD.(2014).Active cooperative observation of A 3D moving target using two dynamical monocular vision sensors.Asian Journal of Control,16(3),657–668.
MLA Gu F,et al."Active cooperative observation of A 3D moving target using two dynamical monocular vision sensors".Asian Journal of Control 16.3(2014):657–668.
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