Distributed sensor fusion for object tracking

Authors:
Alankar Karol;Mary-Anne Williams
Affiliations:
Faculty of Information Technology, University of Technology, Sydney, Australia;Faculty of Information Technology, University of Technology, Sydney, Australia
Venue:
RoboCup 2005
Year:
2006

Citing 2
Cited 2

On the representation and estimation of spatial uncertainly

International Journal of Robotics Research
Real-time object tracking from corners

Robotica

Grounded representation driven robot design

PCAR '06 Proceedings of the 2006 international symposium on Practical cognitive agents and robots
Cooperative Visual Tracking in a Team of Autonomous Mobile Robots

RoboCup 2006: Robot Soccer World Cup X

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Abstract

In a dynamic situation like robot soccer any individual player can only observe a limited portion of their environment at any given time. As such to develop strategies based upon planning and cooperation between different players it is imperative that they be able to share information which may or may not be in any individual player's field of vision. In this paper we propose a method for multi-agent cooperation for perception based upon the Extended Kalman Filter (EKF) which enables players to track objects absent from their field of vision and also to improve the accuracy of position and velocity estimates of objects in their field of vision.