TY - GEN
T1 - Visual Tracking for Teams of Miniature Robots
AU - Min, Hyeun Jeong
AU - Drenner, Andrew
AU - Papanikolopoulos, Nikolaos P
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
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U2 - 10.1007/978-3-642-00196-3_19
DO - 10.1007/978-3-642-00196-3_19
M3 - Conference contribution
AN - SCOPUS:84882956781
SN - 9783642001956
T3 - Springer Tracts in Advanced Robotics
SP - 159
EP - 168
BT - Experimental Robotics - The Eleventh International Symposium
T2 - 11th International Symposium on Experimental Robotics, ISER 2008
Y2 - 13 July 2008 through 16 July 2008
ER -