Cooperative tracking of moving objects with multiple mobile robots using in-vehicle laser scanner in GNSS-denied environments
This paper presents a laser-based tracking (estimation of pose and size) of moving objects using multiple mobile robots in Global-navigation-satellite-system (GNSS)-denied environments. Each robot is equipped with a multilayer laser scanner and detects moving objects, such as people, cars, and bicyc...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | Japanese |
| Published: |
The Japan Society of Mechanical Engineers
2017-09-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/83/854/83_17-00138/_pdf/-char/en |
| _version_ | 1811317792717144064 |
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| author | Shota KANAKI Masafumi HASHIMOTO Yuto YODEN Kazuhiko TAKAHASHI |
| author_facet | Shota KANAKI Masafumi HASHIMOTO Yuto YODEN Kazuhiko TAKAHASHI |
| author_sort | Shota KANAKI |
| collection | DOAJ |
| description | This paper presents a laser-based tracking (estimation of pose and size) of moving objects using multiple mobile robots in Global-navigation-satellite-system (GNSS)-denied environments. Each robot is equipped with a multilayer laser scanner and detects moving objects, such as people, cars, and bicycles, in its own laser-scanned images by applying an occupancy-grid-based method. It then sends measurement information related to the moving objects to a central server. The central server estimates the objects’ poses (positions and velocities) and sizes from the measurement information using Bayesian filter. In this cooperative-tracking method, the nearby robots always share their tracking information, allowing tracking of invisible or partially visible objects. To perform a reliable cooperative tracking, robots have to correctly identify their relative pose. To do so in GNSS-denied environments, the relative pose is estimated by scan matching using laser measurements captured by both sensor nodes. Such cooperative scan matching is performed by 4-points-congruent-sets (4PCS)-matching-based coarse registration and Iterative-closest-point (ICP)-based fine registration methods. The experimental results of tracking a car, a motorcycle, and a pedestrian with two robots in an outdoor GNSS-denied environment validate the proposed method. |
| first_indexed | 2024-04-13T12:14:33Z |
| format | Article |
| id | doaj.art-0fe3c0f9af0a4eb3a6a53dd3b172c846 |
| institution | Directory Open Access Journal |
| issn | 2187-9761 |
| language | Japanese |
| last_indexed | 2024-04-13T12:14:33Z |
| publishDate | 2017-09-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Nihon Kikai Gakkai ronbunshu |
| spelling | doaj.art-0fe3c0f9af0a4eb3a6a53dd3b172c8462022-12-22T02:47:23ZjpnThe Japan Society of Mechanical EngineersNihon Kikai Gakkai ronbunshu2187-97612017-09-018385417-0013817-0013810.1299/transjsme.17-00138transjsmeCooperative tracking of moving objects with multiple mobile robots using in-vehicle laser scanner in GNSS-denied environmentsShota KANAKI0Masafumi HASHIMOTO1Yuto YODEN2Kazuhiko TAKAHASHI3Graduate School of Doshisha UniversityFaculty of Science and Engineering, Doshisha UniversityGraduate School of Doshisha UniversityFaculty of Science and Engineering, Doshisha UniversityThis paper presents a laser-based tracking (estimation of pose and size) of moving objects using multiple mobile robots in Global-navigation-satellite-system (GNSS)-denied environments. Each robot is equipped with a multilayer laser scanner and detects moving objects, such as people, cars, and bicycles, in its own laser-scanned images by applying an occupancy-grid-based method. It then sends measurement information related to the moving objects to a central server. The central server estimates the objects’ poses (positions and velocities) and sizes from the measurement information using Bayesian filter. In this cooperative-tracking method, the nearby robots always share their tracking information, allowing tracking of invisible or partially visible objects. To perform a reliable cooperative tracking, robots have to correctly identify their relative pose. To do so in GNSS-denied environments, the relative pose is estimated by scan matching using laser measurements captured by both sensor nodes. Such cooperative scan matching is performed by 4-points-congruent-sets (4PCS)-matching-based coarse registration and Iterative-closest-point (ICP)-based fine registration methods. The experimental results of tracking a car, a motorcycle, and a pedestrian with two robots in an outdoor GNSS-denied environment validate the proposed method.https://www.jstage.jst.go.jp/article/transjsme/83/854/83_17-00138/_pdf/-char/enmoving-object trackingmulti-mobile robotslaser scannercooperative trackingscan matchinggnss-denied environment |
| spellingShingle | Shota KANAKI Masafumi HASHIMOTO Yuto YODEN Kazuhiko TAKAHASHI Cooperative tracking of moving objects with multiple mobile robots using in-vehicle laser scanner in GNSS-denied environments Nihon Kikai Gakkai ronbunshu moving-object tracking multi-mobile robots laser scanner cooperative tracking scan matching gnss-denied environment |
| title | Cooperative tracking of moving objects with multiple mobile robots using in-vehicle laser scanner in GNSS-denied environments |
| title_full | Cooperative tracking of moving objects with multiple mobile robots using in-vehicle laser scanner in GNSS-denied environments |
| title_fullStr | Cooperative tracking of moving objects with multiple mobile robots using in-vehicle laser scanner in GNSS-denied environments |
| title_full_unstemmed | Cooperative tracking of moving objects with multiple mobile robots using in-vehicle laser scanner in GNSS-denied environments |
| title_short | Cooperative tracking of moving objects with multiple mobile robots using in-vehicle laser scanner in GNSS-denied environments |
| title_sort | cooperative tracking of moving objects with multiple mobile robots using in vehicle laser scanner in gnss denied environments |
| topic | moving-object tracking multi-mobile robots laser scanner cooperative tracking scan matching gnss-denied environment |
| url | https://www.jstage.jst.go.jp/article/transjsme/83/854/83_17-00138/_pdf/-char/en |
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