Header logo is ps

Dynamic baseline stereo vision-based cooperative target tracking


Conference Paper


In this article we present a new method for multi-robot cooperative target tracking based on dynamic baseline stereo vision. The core novelty of our approach includes a computationally light-weight scheme to compute the 3D stereo measurements that exactly satisfy the epipolar constraints and a covariance intersection (CI)-based method to fuse the 3D measurements obtained by each individual robot. Using CI we are able to systematically integrate the robot localization uncertainties as well as the uncertainties in the measurements generated by the monocular camera images from each individual robot into the resulting stereo measurements. Through an extensive set of simulation and real robot results we show the robustness and accuracy of our approach with respect to ground truth. The source code related to this article is publicly accessible on our website and the datasets are available on request.

Author(s): Ahmad, A and Ruff, E and Bülthoff, HH
Book Title: 19th International Conference on Information Fusion
Pages: 1728-1734
Year: 2016
Month: July

Department(s): Perceiving Systems
Bibtex Type: Conference Paper (conference)
Paper Type: Conference

DOI: http://ieeexplore.ieee.org/document/7528092/
Event Place: Heidelberg, Germany


  title = {Dynamic baseline stereo vision-based cooperative target tracking},
  author = {Ahmad, A and Ruff, E and B{\"u}lthoff, HH},
  booktitle = {19th International Conference on Information Fusion},
  pages = {1728-1734},
  month = jul,
  year = {2016},
  month_numeric = {7}