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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)
作者部门机器人学研究室
关键词Motion Planning Vision
发表期刊Asian Journal of Control
ISSN1561-8625
2014
卷号16期号:3页码:657–668
收录类别SCI ; EI
EI收录号20142217756962
WOS记录号WOS:000335958100004
产权排序1
摘要Vision-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.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Automation & Control Systems
关键词[WOS]SET-MEMBERSHIP FILTER ; VISUAL TRACKING
WOS研究方向Automation & Control Systems
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/14722
专题机器人学研究室
通讯作者Gu F(谷丰)
作者单位State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Nanta Street, 114, Shenyang 110016, China
推荐引用方式
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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