Fast visual tracking and localization in multi-agent systems

摘要

In this paper an implementation of an algorithm for fast visual tracking and localization of mobile agents has been described. Based on an extremely rapid method for visual detection of an object, described localization strategy provides a real time solution suitable for the design of multi-agent control schemes. The agents tracking and localization is carried out through five differently trained cascades of classifiers that process images captured by cameras mounted on agents. In this way, each agent is able to determine relative positions and orientations of all other agents performing tasks in its field of view. The described localization method is suitable for applications involving robot formations. Performance of the proposed method has been demonstrated on a laboratory setup composed of two mobile robot platforms.