IPSN '05 Proceedings of the 4th international symposium on Information processing in sensor networks
ACM Computing Surveys (CSUR)
Tracking objects with generic calibrated sensors: An algorithm based on color and 3D shape features
Robotics and Autonomous Systems
Online Multiperson Tracking-by-Detection from a Single, Uncalibrated Camera
IEEE Transactions on Pattern Analysis and Machine Intelligence
Finding the convex hull of a simple polygon
Pattern Recognition Letters
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This article presents a cooperative approach for tracking a moving spherical object in 3D space by a team of mobile robots equipped with sensors, in a highly dynamic environment. The tracker's core is a particle filter, modified to handle, within a single unified framework, the problem of complete or partial occlusion for some of the involved mobile sensors, as well as inconsistent estimates in the global frame among sensors, due to observation errors and/or self-localization uncertainty. We present results supporting our approach by applying it to a team of real soccer robots tracking a soccer ball, including comparison with ground truth.