Real-time combinatorial tracking of a target moving unpredictably among obstacles
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference (2002)
摘要
Many applications require continuous mon- itoring of a moving target by a controllable vision sys- tem. Although the goal of tracking objects is not new, traditional techniques usually ignore the presence of ob- stacles and focus on imaging and target recognition is- sues. For a target moving among obstacles, the goal of tracking involves a complex motion problem: a con- trollable observer (e.g., a robot) must anticipate that the target may become occluded by an obstacle and move to prevent such an event from occurring. This paper describes a strategy for computing the motions of a mobile robot operating in a 2-D workspace without prior knowledge of the target's intention or the distribu- tion of obstacles in the scene. The proposed algorithm governs the motion of the observer based on current measurements of the target's position and the location of the local obstacles. The approach is combinatorial in the sense that the algorithm explicitly computes a description of the geometric arrangement between the target and the observer's visibility region produced by the local obstacles. The algorithm computes a contin- uous control law based on this description. The new tracking strategy has been implemented in a real-time robotic system.
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关键词
geometry,image sensors,mobile robots,path planning,robot vision,target tracking,trees (mathematics),2D workspace,autonomous observers,complex motion problem,continuous control law,controllable observer,mobile robot,moving target,obstacles,real-time combinatorial tracking,target tracking,unpredictable movement,visibility constraints,visibility region
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