Summary
This paper describes an experimental visual tracking system for cameras mounted on miniature mobile robots. The localization of the moving target robot is done in two steps: (i) extracting boundary marks representing the target robot within the image, and (ii) reducing its projected position and orientation errors across images. Background segmentation is especially difficult in this problem, as there is no calibration with respect to the scene from the mobile camera. Further difficulties arise with the constrained motion of mobile robots and performing the analysis in real-time. We also address an action selection scheme based on error reduction as a solution for visual tracking from moving platforms. Experiments utilizing multiple miniature robots are presented to illustrate how this system can be used for following the leader, platooning, and target interception behaviors.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Dailey, D.J., Li, L.: An algorithm to estimate vehicle speed using uncalibrated cameras. In: IEEE/IEEJ/JSA Int. Conf. on Intelligent Transportation Systems, pp. 441–446 (1999)
Veeraraghavan, H., Masoud, O., Papanikolopoulos, N.: Computer vision algorithms for intersection monitoring. IEEE Transactions on Intellient Transportation Systems, 78–89 (2003)
Min, H.J., Drenner, A., Papanikolopoulos, N.: Autonomous docking for an eROSI robot based on a vision system with points clustering. In: 15th Mediterranean Conference on Control and Automation, pp. 1–6 (2007)
Drenner, A., Papanikolopoulos, N.: Docking station relocation for maximizing longevity of distributed robotic teams. In: Proc. of the 2006 IEEE Int. Conf. on Robotics and Automation, pp. 2436–2441 (2006)
Walter, M., Anderson, M., Burt, I., Papanikolopoulos, N.: The design and evolution of the eROSI robot. In: Proceedings of the 2007 IEEE International Conference on Robotics and Automation, pp. 2984–2989 (2007)
Eklund, M.W., Ravichandran, G., Trivedi, M.M., Marapane, S.B.: Real-time visual tracking using correlation techniques. In: Proc. of the 2nd IEEE Workshop on Applications of Computer Vision, pp. 256–263 (1994)
Peterfreund, N.: Robust tracking of position and velocity with Kalman snakes. IEEE Transactions on Pattern Analysis and Machine Intelligence 21, 564–569 (1999)
Toyama, K., Hager, G.D.: Incremental focus of attention for robust visual tracking. In: IEEE Conf. on Computer Vision and Pattern Recognition, pp. 189–195 (1996)
Jung, B., Sukhatme, G.S.: Detecting moving objects using a single camera on a mobile robot in an outdoor environment. In: 8th Conference on Intelligent Autonomous Systems, pp. 980–987 (2004)
Talukder, A., Goldberg, S., Matthies, L., Ansar, A.: Real-time detection of moving objects in a dynamic scene from moving robotic vehicles. In: Proc. of the 2003 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1308–1313 (2003)
Balkenius, C.: Visual tracking and target selection for mobile robots. In: IEEE Proc. of EUROBOT 1996, pp. 166–171 (1996)
Vidal, R., Shakernia, O., Sastry, S.: Formation control of nonholonomic mobile robots with omnidirectional visual servoing and motion segmentation. In: IEEE Int. Conf. on Robotics and Automation, pp. 584–589 (2003)
Malis, E.: Improving vision-based control using efficient second-order minimization techniques. In: 2004 IEEE International Conference on Robotics and Automation, pp. 1843–1848 (2003)
Chang, C.C., Chia, T.L., Yang, C.K.: Modified temporal difference method for change detection. Optical Engineering 44, 0270011–02700110 (2005)
Carlson, C., Drenner, A., Burt, I., Papanikolopoulos, N.: Modular mobile docking station design. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robot Systems (2006)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Min, H.J., Drenner, A., Papanikolopoulos, N. (2009). Visual Tracking for Teams of Miniature Robots. In: Khatib, O., Kumar, V., Pappas, G.J. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 54. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00196-3_19
Download citation
DOI: https://doi.org/10.1007/978-3-642-00196-3_19
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-00195-6
Online ISBN: 978-3-642-00196-3
eBook Packages: EngineeringEngineering (R0)