Uncertainty Based Multi-Robot Cooperative Triangulation

被引：0
|
作者：
Dias, Andre [1 ]
Almeida, Jose [1 ]
Lima, Pedro [2 ]
Silva, Eduardo [1 ]
机构：
[1] ISEP IPP Sch Engn, INESC TEC INESC Technol & Sci, Oporto, Portugal
[2] Univ Lisbon, Inst Super Tecn, Inst Syst & Robot, Lisbon, Portugal
来源：
ROBOCUP 2014: ROBOT WORLD CUP XVIII | 2015年 / 8992卷
关键词：
VISION; ROBOTS; SLAM;
D O I：
10.1007/978-3-319-18615-3_41
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The paper presents a multi-robot cooperative framework to estimate the 3D position of dynamic targets, based on bearing-only vision measurements. The uncertainty of the observation provided by each robot equipped with a bearing-only vision system is effectively addressed for cooperative triangulation purposes by weighing the contribution of each monocular bearing ray in a probabilistic manner. The envisioned framework is evaluated in an outdoor scenario with a team of heterogeneous robots composed of an Unmanned Ground and Aerial Vehicle.
引用
收藏
页码：502 / 513
页数：12
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