Title:
Distributed Sensor Fusion for Object Position Estimation by Multi-Robot Systems
Distributed Sensor Fusion for Object Position Estimation by Multi-Robot Systems
Author(s)
Balch, Tucker
Martin, Martin C.
Stroupe, Ashley W.
Martin, Martin C.
Stroupe, Ashley W.
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Abstract
We present a method for representing,
communicating and fusing distributed, noisy and uncertain
observations of an object by multiple robots. The approach
relies on re-parameterization of the canonical two-dimensional
Gaussian distribution that corresponds more
naturally to the observation space of a robot. The approach
enables two or more observers to achieve greater effective
sensor coverage of the environment and improved accuracy
in object position estimation. We demonstrate empirically
that, when using our approach, more observers achieve
more accurate estimations of an object’s position. The
method is tested in three application areas, including object
location, object tracking, and ball position estimation for
robotic soccer. Quantitative evaluations of the technique in
use on mobile robots are provided.
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Date Issued
2001
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Text
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Paper