CS Freiburg: Global View by Cooperative Sensing

Authors:
Markus Dietl;Jens-Steffen Gutmann;Bernhard Nebel
Affiliations:
-;-;-
Venue:
RoboCup 2001: Robot Soccer World Cup V
Year:
2002

Citing 5
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Abstract

Global vision systems as found in the small size league are prohibited in the middle size league. This paper presents methods for creating a global view of the world by cooperative sensing of a team of robots. We develop a multiobject tracking algorithm based on Kalman filtering and a single-object tracking method involving a combination of Kalman filtering and Markov localization for outlier detection. We apply these methods for robots participating in the middle-size league and compare them to a simple averaging method. Results including situations from real competition games are presented.