Observatorio de I+D+i UPM

Memorias de investigación
Research Publications in journals:
Detection and Tracking of Dynamic Objects by Using a Multirobot System: Application to Critical Infrastructures Surveillance
Year:2014
Research Areas
  • Electric engineers, electronic and automatic (eil),
  • Exterior robots
Information
Abstract
The detection and tracking of mobile objects (DATMO) is progressively gaining importance for security and surveillance applications. This article proposes a set of new algorithms and procedures for detecting and tracking mobile objects by robots that work collaboratively as part of a multirobot system. These surveillance algorithms are conceived of to work with data provided by long distance range sensors and are intended for highly reliable object detection in wide outdoor environments. Contrary to most common approaches, in which detection and tracking are done by an integrated procedure, the approach proposed here relies on a modular structure, in which detection and tracking are carried out independently, and the latter might accept input data from different detection algorithms. Two movement detection algorithms have been developed for the detection of dynamic objects by using both static and/or mobile robots. The solution to the overall problem is based on the use of a Kalman filter to predict the next state of each tracked object. Additionally, new tracking algorithms capable of combining dynamic objects lists coming from either one or various sources complete the solution. The complementary performance of the separated modular structure for detection and identification is evaluated and, finally, a selection of test examples discussed.
International
Si
JCR
Si
Title
Sensors
ISBN
1424-8220
Impact factor JCR
1,953
Impact info
Datos JCR del año 2012
Volume
14(2)
10.3390/s140202911
Journal number
From page
2911
To page
2943
Month
SIN MES
Ranking
q1
Participants
  • Autor: Gonzalo Ruy Rodríguez Canosa (UPM)
  • Autor: Jaime del Cerro Giner (UPM)
  • Autor: Antonio Barrientos Cruz (UPM)
Research Group, Departaments and Institutes related
  • Creador: Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
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