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题名: Active cooperative observation of A 3D moving target using two dynamical monocular vision sensors
作者: 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
刊名: Asian Journal of Control
ISSN号: 1561-8625
出版日期: 2014
卷号: 16, 期号:3, 页码:657–668
收录类别: SCI ; EI
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.
WOS记录号: WOS:000335958100004
WOS标题词: Science & Technology ; Technology
类目[WOS]: Automation & Control Systems
关键词[WOS]: SET-MEMBERSHIP FILTER ; VISUAL TRACKING
研究领域[WOS]: Automation & Control Systems
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/14722
Appears in Collections:机器人学研究室_期刊论文

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文件名: Active cooperative observation of A 3D moving target using two dynamical monocular vision sensors.pdf
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文件名: Active cooperative observation of A 3D moving target using two dynamical monocular vision sensors1.pdf
格式: Adobe PDF
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