Visual tracking for mobile robot pursuit

Gary Witus; Robert Karlsen; James Overholt; Grant Gerhart

doi:10.1117/12.634478

26 October 2005 Visual tracking for mobile robot pursuit

Gary Witus, Robert Karlsen, James Overholt, Grant Gerhart

Proceedings Volume 5986, Unmanned/Unattended Sensors and Sensor Networks II; 59860F (2005) https://doi.org/10.1117/12.634478
Event: European Symposium on Optics and Photonics for Defence and Security, 2005, Bruges, Belgium

Abstract

This research is part of a broader effort to develop a supervisory control system for small robot navigation. Previous research and development focused on a "one-touch, point-and-go" navigation control system using visual homing. In the current research, we have begun to investigate visual tracking methods to extend supervisory control to tasks involving tracking and pursuit of a moving object. Ground-to-ground tracking of arbitrary targets in natural and damaged environments is challenging. Automatic tracking is expected to fail due to line-of-sight obstruction, lighting gradients, rapid changes in perspective and orientation, etc. In supervisory control, the automatic tracker needs able to alert the operator when it is at risk of losing track or when it may have already lost track, and do so with a low false alarm rate. The focus of the current research is on detecting tracking failure during pursuit. We are attempting to develop approaches to detecting failure that can integrate different low-level tracking algorithms. In this paper, we demonstrate stereo vision methods for pursuit tracking and examine several indicators of track loss in field experiments with a variety of moving targets in natural environment.

Citation Download Citation

Gary Witus, Robert Karlsen, James Overholt, and Grant Gerhart "Visual tracking for mobile robot pursuit", Proc. SPIE 5986, Unmanned/Unattended Sensors and Sensor Networks II, 59860F (26 October 2005); https://doi.org/10.1117/12.634478

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