Vision-based cooperative simultaneous localization and tracking

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

*Corresponding author for this work

研究成果: Conference contribution

17 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題2011 IEEE International Conference on Robotics and Automation, ICRA 2011
頁面5191-5197
頁數7
DOIs
出版狀態Published - 1 十二月 2011
事件2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
持續時間: 9 五月 201113 五月 2011

出版系列

名字Proceedings - IEEE International Conference on Robotics and Automation
ISSN(列印)1050-4729

Conference

Conference2011 IEEE International Conference on Robotics and Automation, ICRA 2011
國家China
城市Shanghai
期間9/05/1113/05/11

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  • 引用此

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