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Dynamic baseline stereo vision-based cooperative target tracking

2016

Conference Paper

ps


In this article we present a new method for multi-robot cooperative target tracking based on dynamic baseline stereo vision. The core novelty of our approach includes a computationally light-weight scheme to compute the 3D stereo measurements that exactly satisfy the epipolar constraints and a covariance intersection (CI)-based method to fuse the 3D measurements obtained by each individual robot. Using CI we are able to systematically integrate the robot localization uncertainties as well as the uncertainties in the measurements generated by the monocular camera images from each individual robot into the resulting stereo measurements. Through an extensive set of simulation and real robot results we show the robustness and accuracy of our approach with respect to ground truth. The source code related to this article is publicly accessible on our website and the datasets are available on request.

Author(s): Ahmad, A and Ruff, E and Bülthoff, HH
Pages: 1728-1734
Year: 2016
Publisher: IEEE

Department(s): Perceiving Systems
Bibtex Type: Conference Paper (inproceedings)

Event Name: 19th International Conference on Information Fusion (FUSION 2016)
Event Place: Heidelberg, Germany

BibTex

@inproceedings{AhmadRB2016,
  title = {Dynamic baseline stereo vision-based cooperative target tracking},
  author = {Ahmad, A and Ruff, E and B{\"u}lthoff, HH},
  pages = {1728-1734},
  publisher = {IEEE},
  year = {2016}
}