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Vision-Based
Cooperative Simultaneous Localization and Tracking
Chun-Hua Chang,
Shao-Chen Wang and Chieh-Chih Wang
2011 IEEE International Conference on
Robotics and Automation
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.
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The full paper is available in PDF.
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Bibtex |
@inproceedings{Chang_icra11,
author = {Chun-Hua Chang and Shao-Chen Wang and
Chieh-Chih Wang},
title = {Vision-Based
Cooperative Simultaneous Localization and Tracking},
booktitle = {IEEE
International
Conference
on Robotics and Automation (ICRA)},
address = {Shanghai,
China},
month
=
{May},
year
=
{2011},
}
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Copyright ©
Chieh-Chih
(Bob) Wang 2011. All right reserved.
Last Updated: Feb. 13, 2011.
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