Fast visual tracking and localization in multi-agent systems

Author

Katalenic, Andelko ; Draganjac, Ivica ; Mutka, Alan ; Bogdan, Stjepan

Author_Institution

Fac. of Electr. Eng. & Comput., Univ. of Zagreb, Zagreb

fYear

2009

fDate

25-27 May 2009

Firstpage

1864

Lastpage

1870

Abstract

In this paper an implementation of an algorithm for fast visual tracking and localization of mobile agents has been described. Based on an extremely rapid method for visual detection of an object, described localization strategy provides a real time solution suitable for the design of multi-agent control schemes. The agents tracking and localization is carried out through five differently trained cascades of classifiers that process images captured by cameras mounted on agents. In this way, each agent is able to determine relative positions and orientations of all other agents performing tasks in its field of view. The described localization method is suitable for applications involving robot formations. Performance of the proposed method has been demonstrated on a laboratory setup composed of two mobile robot platforms.

Keywords

control system synthesis; image classification; mobile robots; multi-robot systems; object detection; position control; robot vision; tracking; agent position; image classification; mobile agent localization; mobile robot; multiagent control design; multiagent system; object detection; visual tracking; Cameras; Face detection; Mobile robots; Multiagent systems; Object detection; Robot kinematics; Robot sensing systems; Robot vision systems; Shape; Vehicle detection; Object detection; localization; mobile robots; visual tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics and Applications, 2009. ICIEA 2009. 4th IEEE Conference on

Conference_Location

Xi´an

Print_ISBN

978-1-4244-2799-4

Electronic_ISBN

978-1-4244-2800-7

Type

conf

DOI

10.1109/ICIEA.2009.5138527

Filename

5138527