• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>IEEE Transactions on Robotics >Distributed Data Association in Robotic Networks With Cameras and Limited Communications
【24h】

Distributed Data Association in Robotic Networks With Cameras and Limited Communications

机译：具有摄像头和受限通信的机器人网络中的分布式数据关联

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

We address the data association problem of features that are observed by a robotic network. Every robot in the network has limited communication capabilities and can only exchange local matches with its neighbors. We propose a distributed algorithm that takes these local matches and, by their propagation in the network, computes global correspondences. When the algorithm finishes, each robot knows the correspondences between its features and the features of all the other robots, even if they cannot directly communicate. The presence of spurious local correspondences may produce inconsistent global correspondences, which are association paths between features observed by the same robot. The contributions of this study are the propagation of the local matches and the detection and resolution of these inconsistencies. We formally prove that after executing the algorithm, all the robots finish with a data association that is free of inconsistencies. We provide a fully decentralized solution to the problem that is valid for any fixed communication topology and with bounded communications between the robots. Simulations and experimental results with real images show the performance of the method considering different features, matching functions, and robotic applications.
机译：我们解决了由机器人网络观察到的特征的数据关联问题。网络中的每个机器人都具有有限的通信能力，并且只能与其邻居交换本地匹配项。我们提出了一种分布式算法，该算法采用这些局部匹配项，并通过它们在网络中的传播来计算全局对应关系。算法完成后，即使每个机器人无法直接通信，它们也都知道其特征与所有其他机器人的特征之间的对应关系。虚假局部对应关系的存在可能会产生不一致的全局对应关系，这是同一机器人观察到的特征之间的关联路径。这项研究的贡献是本地匹配的传播以及这些不一致的检测和解决。我们正式证明，执行算法后，所有机器人都将完成无不一致的数据关联。我们为该问题提供了完全分散的解决方案，该解决方案对于任何固定的通信拓扑结构以及机器人之间的受限通信均有效。带有真实图像的仿真和实验结果表明了该方法在考虑不同功能，匹配功能和机器人应用的情况下的性能。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号