Multi-Camera Sensor System for 3D Segmentation and Localization of Multiple Mobile Robots
This paper presents a method for obtaining the motion segmentation and 3D localization of multiple mobile robots in an intelligent space using a multi-camera sensor system. The set of calibrated and synchronized cameras are placed in fixed positions within the environment (intelligent space). The pr...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2010-04-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/10/4/3261/ |
| _version_ | 1798041535421349888 |
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| author | Cristina Losada Manuel Mazo Sira Palazuelos Daniel Pizarro Marta Marrón |
| author_facet | Cristina Losada Manuel Mazo Sira Palazuelos Daniel Pizarro Marta Marrón |
| author_sort | Cristina Losada |
| collection | DOAJ |
| description | This paper presents a method for obtaining the motion segmentation and 3D localization of multiple mobile robots in an intelligent space using a multi-camera sensor system. The set of calibrated and synchronized cameras are placed in fixed positions within the environment (intelligent space). The proposed algorithm for motion segmentation and 3D localization is based on the minimization of an objective function. This function includes information from all the cameras, and it does not rely on previous knowledge or invasive landmarks on board the robots. The proposed objective function depends on three groups of variables: the segmentation boundaries, the motion parameters and the depth. For the objective function minimization, we use a greedy iterative algorithm with three steps that, after initialization of segmentation boundaries and depth, are repeated until convergence. |
| first_indexed | 2024-04-11T22:22:52Z |
| format | Article |
| id | doaj.art-666cdc4fce764dd9b78908665c423f09 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T22:22:52Z |
| publishDate | 2010-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-666cdc4fce764dd9b78908665c423f092022-12-22T04:00:01ZengMDPI AGSensors1424-82202010-04-011043261327910.3390/s100403261Multi-Camera Sensor System for 3D Segmentation and Localization of Multiple Mobile RobotsCristina LosadaManuel MazoSira PalazuelosDaniel PizarroMarta MarrónThis paper presents a method for obtaining the motion segmentation and 3D localization of multiple mobile robots in an intelligent space using a multi-camera sensor system. The set of calibrated and synchronized cameras are placed in fixed positions within the environment (intelligent space). The proposed algorithm for motion segmentation and 3D localization is based on the minimization of an objective function. This function includes information from all the cameras, and it does not rely on previous knowledge or invasive landmarks on board the robots. The proposed objective function depends on three groups of variables: the segmentation boundaries, the motion parameters and the depth. For the objective function minimization, we use a greedy iterative algorithm with three steps that, after initialization of segmentation boundaries and depth, are repeated until convergence.http://www.mdpi.com/1424-8220/10/4/3261/multi-camera sensorintelligent spacemotion segmentation3D positioningmobile robots |
| spellingShingle | Cristina Losada Manuel Mazo Sira Palazuelos Daniel Pizarro Marta Marrón Multi-Camera Sensor System for 3D Segmentation and Localization of Multiple Mobile Robots Sensors multi-camera sensor intelligent space motion segmentation 3D positioning mobile robots |
| title | Multi-Camera Sensor System for 3D Segmentation and Localization of Multiple Mobile Robots |
| title_full | Multi-Camera Sensor System for 3D Segmentation and Localization of Multiple Mobile Robots |
| title_fullStr | Multi-Camera Sensor System for 3D Segmentation and Localization of Multiple Mobile Robots |
| title_full_unstemmed | Multi-Camera Sensor System for 3D Segmentation and Localization of Multiple Mobile Robots |
| title_short | Multi-Camera Sensor System for 3D Segmentation and Localization of Multiple Mobile Robots |
| title_sort | multi camera sensor system for 3d segmentation and localization of multiple mobile robots |
| topic | multi-camera sensor intelligent space motion segmentation 3D positioning mobile robots |
| url | http://www.mdpi.com/1424-8220/10/4/3261/ |
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