Vision-based cooperative simultaneous localization and tracking

Chun Hua Chang*, Shao Chen Wang, Chieh-Chih Wang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Scopus citations

Abstract

Localization is one of the most essential capabilities of autonomous robots. Cooperative localization has been proved to be effective in multi-robot localization. However, nearby moving objects could degrade the cooperative localization performance. In this paper, we demonstrate that the cooperative simultaneous localization and tracking approach is superior in challenging scenarios. Localization and moving object tracking are mutually beneficial. The proposed approach is evaluated using humanoid robots in the RoboCup environment in which only uncertain data from onboard cameras and odometry are used. Ample experimental results with ground truthing from laser scanners demonstrate the accuracy and feasibility of the proposed vision-based cooperative simultaneous localization and tracking algorithm.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages5191-5197
Number of pages7
DOIs
StatePublished - 1 Dec 2011
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: 9 May 201113 May 2011

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CountryChina
CityShanghai
Period9/05/1113/05/11

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  • Cite this

    Chang, C. H., Wang, S. C., & Wang, C-C. (2011). Vision-based cooperative simultaneous localization and tracking. In 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 (pp. 5191-5197). [5980505] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2011.5980505