ICRA 2011 Paper Abstract


Paper ThA210.5

Chang, Chun-Hua (Nation Taiwan University), Wang, Shao-Chen (National Taiwan University), Wang, Chieh-Chih (National Taiwan University)

Vision-Based Cooperative Simultaneous Localization and Tracking

Scheduled for presentation during the Regular Sessions "Localization II" (ThA210), Thursday, May 12, 2011, 11:05−11:20, Room 5E

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 19, 2019

Keywords Localization, Visual Tracking, Networked Robots


Localization is one of the most essential capabilities of autonomous robots. Cooperative localization has been proved to be effective in multi-robot localization. However, nearby moving objects could degrade the cooperative localization performance. In this paper, we demonstrate that the cooperative simultaneous localization and tracking approach is superior in challenging scenarios. Localization and moving object tracking are mutual beneficial. The proposed approach is evaluated using humanoid robots in the RoboCup environment in which only uncertain data from onboard cameras and odometry are used. Ample experimental results with ground truthing from laser scanners demonstrate the accuracy and feasibility of the proposed vision-based cooperative simultaneous localization and tracking algorithm.



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