Visual Tracking for Teams of Miniature Robots

Hyeun Jeong Min, Andrew Drenner, Nikolaos P Papanikolopoulos

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


This paper describes an experimental visual tracking system for cameras mounted on miniature mobile robots. The localization of the moving target robot is done in two steps: (i) extracting boundary marks representing the target robot within the image, and (ii) reducing its projected position and orientation errors across images. Background segmentation is especially difficult in this problem, as there is no calibration with respect to the scene from the mobile camera. Further difficulties arise with the constrained motion of mobile robots and performing the analysis in real-time. We also address an action selection scheme based on error reduction as a solution for visual tracking from moving platforms. Experiments utilizing multiple miniature robots are presented to illustrate how this system can be used for following the leader, platooning, and target interception behaviors.

Original languageEnglish (US)
Title of host publicationExperimental Robotics - The Eleventh International Symposium
Number of pages10
StatePublished - Dec 1 2009
Event11th International Symposium on Experimental Robotics, ISER 2008 - Athens, Greece
Duration: Jul 13 2008Jul 16 2008

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


Other11th International Symposium on Experimental Robotics, ISER 2008


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