Observatorio de I+D+i UPM

Memorias de investigación
Artículos en revistas:
Detection and Tracking of Dynamic Objects by Using a Multirobot System: Application to Critical Infrastructures Surveillance
Año:2014
Áreas de investigación
  • Ingeniería eléctrica, electrónica y automática,
  • Robots de exteriores
Datos
Descripción
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.
Internacional
Si
JCR del ISI
Si
Título de la revista
Sensors
ISSN
1424-8220
Factor de impacto JCR
1,953
Información de impacto
Datos JCR del año 2012
Volumen
14(2)
DOI
10.3390/s140202911
Número de revista
Desde la página
2911
Hasta la página
2943
Mes
SIN MES
Ranking
q1
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Gonzalo Ruy Rodríguez Canosa (UPM)
  • Autor: Jaime del Cerro Giner (UPM)
  • Autor: Antonio Barrientos Cruz (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
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