Object Tracking in a Moving Reference Frame

• Type: Article in International Conference Proceedings Book
• Date: 2017

Authors

Relvas, P (Author) Other; Paulo Gomes da Costa (Author) FEUP; António Paulo Moreira (Author) FEUP

Conference proceedings International

Title: ROBOT 2017: Third Iberian Robotics Conference - Volume 1, Seville, Spain, November 22-24, 2017

Pages: 26-35

Indexing

Scopus - 1 Citation

Other information

Authenticus ID: P-00N-82F

DOI: 10.1007/978-3-319-70833-1_3

Abstract (EN): Object tracking in a moving frame is becoming a common requirement in a lot of mobile robotic applications, such as search and rescue, monitoring and surveillance, and even in some scientific applications, such as robotic soccer. In all these applications, the robots must be capable of estimating the target position and, sometimes, velocity on their own. Depending on the application and on the current scene situation, the estimates must be more or less accurate, depending on the robot intention to interact with the target, whether to catch it, follow it, etc. The problem is that a robot moves along the working area, having some uncertainty in its pose estimation. This paper proposes an approach based on a Kalman Filter to estimate the object position and velocity, regardless the robot pose. As a testbed, a Middle-Size League soccer robot tracking a moving ball example will be used. This approach allows the agent to follow and interact with a moving object, even if its localization is not available. © Springer International Publishing AG 2018.

Language: English

Type (Professor's evaluation): Scientific