2012 Fiscal Year Final Research Report
Multi-robot Visual Tracking System based on Cognitive Sharing of Invariants
| Project/Area Number |
22500174
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Nagoya University |
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Principal Investigator |
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| Project Period (FY) |
2010 – 2012
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| Keywords | 実世界情報処理 / 分散共有知覚 / 不変項選択 |
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| Research Abstract |
In multi-robot systems, since each robot has generally a different perspective around an object to be shared, an effective representation for cognitive sharing would be different. This work proposed a hierarchical cognitive invariant model as a framework of cognitive sharing for multi-robot system. The ambiguity measure of the effective representation of the shape or color feature is dynamically evaluated according to the change of perspective of each robot. Relational representation of the object is formed by autonomous landmark generation called representation triangle, which specifies the existence region of target object. A visual mobile object tracking with multi-robot was experimentally demonstrated to show the effectiveness of proposed method where an occlusion occurs and a lightning condition changes.
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