Abstract
At present, the research on tracking methods is mainly based on visual tracking algorithm, which has reduced the accuracy at night or under the condition of insufficient light intensity. Therefore, this paper starts from the direction of multi-sensor combined tracking. Firstly, in order to verify the feasibility and performance of the multi-sensor combined tracking method proposed in this paper, a set of tracking robot system is designed. Secondly, aiming at the problem that the visual tracking method fails to track in scenes such as complete occlusion and insufficient illumination, the non-line-of-sight perception of the following target is realized based on the fusion of ultra-wide band (UWB) and inertial measurement unit (IMU) sensors. Besides, based on coordinate transformation and decision tree algorithm, this paper makes decisions on UWB and visual tracking targets to achieve combined tracking.
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Liu, H., Yu, G., Hu, . (2022). A Multi-sensor Combined Tracking Method for Following Robots. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13456. Springer, Cham. https://doi.org/10.1007/978-3-031-13822-5_65
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DOI: https://doi.org/10.1007/978-3-031-13822-5_65
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