協調UAVによる未知の雑然領域での視覚システムを用いた集合メンバーシップ目標探索と追跡
Set-membership target search and tracking within an unknown cluttered area using cooperating UAVs equipped with vision systems
複数の協調UAVが未知の雑然領域で移動する地上目標を探索・追跡するため、視覚システムの情報を集合メンバーシップ推定に活用する手法を提案。
著者: Maxime Zagar, Luc Meyer, Michel Kieffer, Hélène Piet-Lahanier
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
This paper addresses the problem of target search and tracking using a fleet of cooperating UAVs evolving in some unknown region of interest containing an a priori unknown number of moving ground targets. Each drone is equipped with an embedded Computer Vision System (CVS), providing an image with labeled pixels and a depth map of the observed part of its environment. Moreover, a box containing the corresponding pixels in the image frame is available when a UAV identifies a target. Hypotheses regarding information provided by the pixel classification, depth map construction, and target identification algorithms are proposed to allow its exploitation by set-membership approaches. A set-membership target location estimator is developed using the information provided by the CVS. Each UAV evaluates sets guaranteed to contain the location of the identified targets and a set possibly containing the locations of targets still to be identified. Then, each UAV uses these sets to search and track targets cooperatively.