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JRM Vol.24 No.3 pp. 531-539
doi: 10.20965/jrm.2012.p0531
(2012)

Paper:

Vision-Based Object Tracking by Multi-Robots

Takayuki Umeda, Kosuke Sekiyama, and Toshio Fukuda

Department of Micro System Engineering, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan

Received:
September 30, 2011
Accepted:
April 19, 2012
Published:
June 20, 2012
Keywords:
object tracking, multi-robot, feature evaluation, feature selection, autonomous landmark generation
Abstract

This paper proposes a cooperative visual object tracking by a multi-robot system, where robust cognitive sharing is essential between robots. Robots identify the object of interest by using various types of information in the image recognition field. However, the most effective type of information for recognizing an object accurately is the difference between the object and its surrounding environment. Therefore we propose two evaluation criteria, called ambiguity and stationarity, in order to select the best information. Although robots attempt to select the best available feature for recognition, it will lead a failure of recognition if the background scene contains very similar features with the object of concern. To solve this problem, we introduce a scheme that robots share the relation between the landmarks and the object of interest where landmark information is generated autonomously. The experimental results show the effectiveness of the proposed multi-robot cognitive sharing.

Cite this article as:
Takayuki Umeda, Kosuke Sekiyama, and Toshio Fukuda, “Vision-Based Object Tracking by Multi-Robots,” J. Robot. Mechatron., Vol.24, No.3, pp. 531-539, 2012.
Data files:
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