Detecting and Tracking 6-DoF Motion of Unknown Dynamic Objects in Industrial Environments Using Stereo Visual Sensing
文献类型：期刊论文
| 作者 | Cao, Hao1; Cheng, Li1; Shen, Zhipeng1; Huang, Chao2; Huang, Hailong1; Wang, Fei-Yue3,4
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| 刊名 | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
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| 出版日期 | 2024-08-08 |
| 页码 | 13 |
| 关键词 | Dynamics Motion estimation Cameras Robots Vehicle dynamics Object detection Accuracy Mapping motion estimation stereo tracking |
| ISSN号 | 2168-2216 |
| DOI | 10.1109/TSMC.2024.3429532 |
| 通讯作者 | Huang, Hailong(hailong.huang@polyu.edu.hk) |
| 英文摘要 | Despite recent advancements in robotic exploration, estimating the three-dimensional (3-D) motion of unknown dynamic objects, which are prevalent in chaotic construction sites, remains an unresolved challenge. In this work, we studied the problem of detecting and tracking the six-degree-of-freedom (6-DoF) motion of unknown moving objects using only a stereo camera. The fundamental idea of our approach is to estimate the positions of map points at each timestamp and model their uncertainty in position, such that the correlation between map points can be found by segmenting point clouds that are parts of moving objects into different groups. By analyzing the correlation between map points, we can detect the dynamic objects in the scene without making any assumptions about the type of objects. Thus, this approach enables tracking of both known and unknown moving objects, such as a robot carrier with stacked luggage. It surpasses the performance of existing appearance-based methods, which often face difficulties when dealing with unknown objects. Through extensive real-world experiments, we demonstrate the effectiveness of our approach in accurately tracking moving objects, highlighting its potential for various applications. In addition, we successfully deploy our object motion estimation algorithm in an unmanned ground vehicle (UGV) for the purpose of avoiding unknown moving objects in real-world scenarios. This practical implementation underscores the applicability of our approach in real-world settings. |
| WOS关键词 | SYSTEM ; SLAM |
| 资助项目 | Hong Kong Polytechnic University[P0038857] |
| WOS研究方向 | Automation & Control Systems ; Computer Science |
| 语种 | 英语 |
| WOS记录号 | WOS:001288154900001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | Hong Kong Polytechnic University |
| 源URL | [http://ir.ia.ac.cn/handle/173211/59315]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进控制与自动化团队 |
| 通讯作者 | Huang, Hailong |
| 作者单位 | 1.Hong Kong Polytech Univ, Dept Aeronaut & Aviat Engn, Hong Kong, Peoples R China 2.Hong Kong Polytech Univ, Dept Ind & Syst Engn, Hong Kong, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 4.Macau Univ Sci & Technol, Inst Engn, Macau, Peoples R China |
| 推荐引用方式 GB/T 7714 | Cao, Hao,Cheng, Li,Shen, Zhipeng,et al. Detecting and Tracking 6-DoF Motion of Unknown Dynamic Objects in Industrial Environments Using Stereo Visual Sensing[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2024:13. |
| APA | Cao, Hao,Cheng, Li,Shen, Zhipeng,Huang, Chao,Huang, Hailong,&Wang, Fei-Yue.(2024).Detecting and Tracking 6-DoF Motion of Unknown Dynamic Objects in Industrial Environments Using Stereo Visual Sensing.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,13. |
| MLA | Cao, Hao,et al."Detecting and Tracking 6-DoF Motion of Unknown Dynamic Objects in Industrial Environments Using Stereo Visual Sensing".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS (2024):13. |
入库方式： OAI收割
来源：自动化研究所
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