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Multi-Agent Tracking and Estimation

In this work we are using groups of robots working semi-autonomously to accomplish a joint mapping or tracking task. Each robot can independently make visual measurements of the environment and from this can both contribute to a shared world-model, as well as refine the position estimates of itself and the other robots in the ensemble. This combines aspects of Kalman filtering for pose estimation, image mosaic generation for appearance modeling, motion stereo for local pose estimates and image segmentation.

G. Dudek, M. Jenkin (York U.), R. Unger
 


Annual Report

Mon Jun 26 21:22:20 GMT 2000