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Departamento de electronica Universidad de Alcala

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    Multi-Camera Sensor System for 3D Segmentation and Localization of Multiple Mobile Robots

    TítuloMulti-Camera Sensor System for 3D Segmentation and Localization of Multiple Mobile Robots
    Tipo de publicaciónJournal Article
    Año de publicación2010
    AutoresLosada-Gutiérrez, C, Mazo, M, Palazuelos, SE, Pizarro, D, Marron, M
    Idioma de publicaciónEnglish
    Revista académicaSensors
    Volumen10
    Páginas3261–3279
    Fecha de publicación04/2010
    ISSN1424-8220
    DOI10.3390/s100403261
    URLhttp://www.mdpi.com/1424-8220/10/4/3261/
    Resumen

    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.

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