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  Dynamic baseline stereo vision-based cooperative target tracking

Ahmad, A., Ruff, E., & Bülthoff, H. (2016). Dynamic baseline stereo vision-based cooperative target tracking. In U. Hanebeck, & W. Koch (Eds.), 19th International Conference on Information Fusion (FUSION 2016) (pp. 1728-1734). Piscataway, NJ, USA: IEEE.

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Item Permalink: https://hdl.handle.net/21.11116/0000-0000-7A88-E Version Permalink: https://hdl.handle.net/21.11116/0000-0000-7A89-D
Genre: Conference Paper

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 Creators:
Ahmad, A1, 2, Author           
Ruff, E1, Author           
Bülthoff, HH1, 2, 3, Author           
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              
3Project group: Cybernetics Approach to Perception & Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528701              

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 Abstract: 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.

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 Dates: 2016-07
 Publication Status: Issued
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 Identifiers: BibTex Citekey: AhmadRB2016
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Title: 19th International Conference on Information Fusion (FUSION 2016)
Place of Event: Heidelberg, Germany
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Title: 19th International Conference on Information Fusion (FUSION 2016)
Source Genre: Proceedings
 Creator(s):
Hanebeck , U.D., Editor
Koch, W., Editor
Affiliations:
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 1728 - 1734 Identifier: ISBN: 978-0-9964527-4-8