Abstract
The ability to localize moving objects within the environment is critical for autonomous robotic systems. This paper describes a moving object detection and localization system using multiple robots equipped with inexpensive optic flow sensors. We demonstrate an architecture capable of detecting motion along a plane by collecting three sets of one-dimensional optic flow data. The detected object is then localized with respect to each of the robots in the system.
Highlights
Sensor-equipped mobile swarm robots often have limited sensing and communication capabilities
This paper describes a moving object detection and localization system using multiple robots equipped with inexpensive optic flow sensors
The human was alerted by an audible command (e.g. “Stop right there”) and the position estimate is relayed to a camera system which performs facial detection and finer localization
Summary
Sensor-equipped mobile swarm robots often have limited sensing and communication capabilities. It is desirable to focus expensive sensors on only important targets and not waste sensing resources on empty space. We introduce a system for inexpensive moving object detection among swarm robots. Coarse optic flow information is computed from sensor data quickly on special hardware and is used to perform a rough localization on a plane. In this scheme, the addition of sensors scales well as optic flow is suited to computation on specialized hardware. The initial detection and localization given in this paper may be used for further investigation by more expensive sensors and computation
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