Distributed Sensor Fusion for Object Tracking
نویسندگان
چکیده
In a dynamic situation like robot soccer any individual player can only observe a limited portion of their environment at any given time. As such to develop strategies based upon planning and cooperation between different players it is imperative that they be able to share information which may or may not be in any individual player’s field of vision. In this paper we propose a method for multi-agent cooperation for perception based upon the Extended Kalman Filter (EKF) which enables players to track objects absent from their field of vision and also to improve the accuracy of position and velocity estimates of objects in their field of vision.
منابع مشابه
Mathematical Analysis of Optimal Tracking Interval Management for Power Efficient Target Tracking Wireless Sensor Networks
In this paper, we study the problem of power efficient tracking interval management for distributed target tracking wireless sensor networks (WSNs). We first analyze the performance of a distributed target tracking network with one moving object, using a quantitative mathematical analysis. We show that previously proposed algorithms are efficient only for constant average velocity objects howev...
متن کاملTracking performance of incremental LMS algorithm over adaptive distributed sensor networks
in this paper we focus on the tracking performance of incremental adaptive LMS algorithm in an adaptive network. For this reason we consider the unknown weight vector to be a time varying sequence. First we analyze the performance of network in tracking a time varying weight vector and then we explain the estimation of Rayleigh fading channel through a random walk model. Closed form relations a...
متن کاملDistributed Fusion and Tracking in Multi-Sensor Systems
The goal of sensor fusion is to take observations of an environment from multiple sources and combine them into the best possible track picture. For simplicity, this is usually done by sending all measurements to a single node whose sole task is to fuse measurements into a coherent track picture. This paper introduces a new framework, Distributed Fusion Architecture for Classification and Track...
متن کاملNonlinear 3-D Motion Simulation Using Multi-Sensor Data Fusion
It is a interesting topic of tracking a 3D object and estimating its 3-D motion in a multi-sensor observation environment. The motion with constant translation velocity and constant rotation rate is assumed and tracked by two separate cameras. Hence the problem considered here also involves a track-to-track fusion system in which twosensors are tracking the same target. Due to the nonlinear nat...
متن کاملThe Design and Implementation of a Novel Distributed Multi-Sensor Information Fusion Simulation System
The large number of “false” targets, which are commonly faced by the aviators in real battlefields, will deteriorate the efficiency and initiative of the campaign. To detect and remove these “false” targets, a novel tracking simulation system is presented in this paper. As the key part of a multi-sensor information fusion simulation system, this tracking simulation sub-system consists of tracki...
متن کاملA Multi-agent Architecture Based on the BDI Model for Data Fusion in Visual Sensor Networks
The newest surveillance applications attempt more complex tasks such as the analysis of the behavior of individuals and crowds. These complex tasks may use a distributed visual sensor network in order to gain coverage and exploit the inherent redundancy of the overlapped field of views. In this article, a Multi-agent architecture based on the Belief-Desire-Intention (BDI) model for processing t...
متن کامل