実世界での俊敏なマルチロボットシステムに向けて：能動点滅マーカーの機上高速追跡による相対位置推定
Towards agile multi-robot systems in the real world: Fast onboard tracking of active blinking markers for relative localization
能動点滅マーカーを機上で高速追跡する手法を提案し、マルチロボットの相対位置推定と光通信を実現。屋外実験で従来法を上回る追跡密度・精度・計算効率を示した。
著者: Tim Felix Lakemann, Daniel Bonilla Licea, Viktor Walter, Tomáš Báča, Martin Saska
分類: cs.RO, cs.CV
原文アブストラクト
A novel onboard tracking approach enabling vision-based relative localization and communication using Active blinking Marker Tracking (AMT) is introduced in this article. Active blinking markers on multi-robot team members improve the robustness of relative localization for aerial vehicles in tightly coupled multi-robot systems during real-world deployments, while also serving as a resilient communication system. Traditional tracking algorithms struggle with fast-moving blinking markers due to their intermittent appearance in camera frames and the complexity of associating multiple of these markers across consecutive frames. AMT addresses this by using weighted polynomial regression to predict the future appearance of active blinking markers while accounting for uncertainty in the prediction. In outdoor experiments, the AMT approach outperformed state-of-the-art methods in tracking density, accuracy, and complexity. The experimental validation of this novel tracking approach for relative localization and optical communication involved testing motion patterns motivated by our research on agile multi-robot deployment.
