Geintra

This paper tackles the problem of identification and tracking of multiple
robots in an intelligent space using an array of cameras placed in fixed positions within the environment. Several types of agents can be found in an
intelligent space: controlled agents (mobile robots) and uncontrolled ones
(users and obstacles). The information transferred between the controlled
agents and the intelligent space is limited to the control commands sent to
the robots and the measures of the odometers received from the robots. The
proposed solution allows the localization of mobile agents, even if they are
not robots; however, we have focused on the controlled agents. The proposal
does not require prior knowledge or invasive landmarks on board the robots.
It starts from the segmentation of different agents in motion that allows obtaining the boundaries of all robots and an estimation of all 3D points that
define those boundaries. Then, the identification of the robots is obtained
by comparing the components of the linear velocity estimated by the motion segmentation algorithm and received from the odometers. In order to
track the robots, an eXtended Particle Filter with Classification Process is
employed. Several experimental tests have been carried out and the obtained
results validate the proposal.