Double-robot dynamic stereo vision algorithm based on UKF and its application in moving target tracking
文献类型：期刊论文
| 作者 | Dong HY(董慧颖); Lu, Xue; He YQ(何玉庆) ; Chen SF(陈盛福); Han JD(韩建达)
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| 刊名 | Advances in Information Sciences and Service Sciences
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| 出版日期 | 2012 |
| 卷号 | 4期号:18页码:263-270 |
| 关键词 | Algorithms Robots State estimation Stereo vision Surface discharges Target tracking |
| ISSN号 | 1976-3700 |
| 产权排序 | 3 |
| 中文摘要 | Cooperation between air and ground robots has gradually been one of the latest research directions in robotics, wherein position of ground robot assisted by air robots is a key problem to be solved. This paper, therefore, mainly focuses on the problem of high precise 3D moving target observation. Firstly, a new so-called dynamical stereo-vision system, composed of multiple air robots with vision sensor mounted, is proposed and the corresponding observation algorithm is studied. Secondly, in order to improve the observation precision and realize persistent observation, UKF algorithm is utilized to form a new method for moving target observation and tracking. Subsequently, formation control algorithm is designed to make the air robots keep tracking the interested moving target. Finally, experiments are conducted with respect to a new-designed platform, called indoor multiple-rotor-craft-robot system, to verify the feasibility and validity of the study. |
| 收录类别 | EI |
| 语种 | 英语 |
| 公开日期 | 2013-04-21 |
| 源URL | [http://ir.sia.cn/handle/173321/10629]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Dong HY,Lu, Xue,He YQ,et al. Double-robot dynamic stereo vision algorithm based on UKF and its application in moving target tracking[J]. Advances in Information Sciences and Service Sciences,2012,4(18):263-270. |
| APA | Dong HY,Lu, Xue,He YQ,Chen SF,&Han JD.(2012).Double-robot dynamic stereo vision algorithm based on UKF and its application in moving target tracking.Advances in Information Sciences and Service Sciences,4(18),263-270. |
| MLA | Dong HY,et al."Double-robot dynamic stereo vision algorithm based on UKF and its application in moving target tracking".Advances in Information Sciences and Service Sciences 4.18(2012):263-270. |
入库方式： OAI收割
来源：沈阳自动化研究所
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