同时机器人定位与人体跟踪的多源感知协作粒子滤波方法

提出了分布式多传感器协作的条件粒子滤波算法以解决人与机器人位置的联合概率分布估计问题．全局视觉系统中，各视角独立运行图像平面上基于粒子滤波的目标跟踪，并利用地平面单应关系实现多视角目标主轴同步融合．视觉观测进一步与机器人激光数据以顺序滤波方式异步融合，提出包含人体位置假设的激光似然场模型以提高对机器人位姿误差的鲁棒性，并引入基于Kullback-Leibler距离的自适应采样以降低描述联合分布所需的粒子数目．实验验证了该方法能够在具有观测噪声且人—机位置均不确定的情况下利用多传感器协作实现基于地图的同时机器人定位与人体跟踪．

Multisensor Collaborative Particle Filters for Simultaneous Robot Localization and People-Tracking

A conditional particle filter algorithm with distributed multisensor collaboration is proposed for joint estimation of the position of people and the pose of the coexisting robot.In global vision system,particle filter-based target tracking in the image plane is performed by each view whilst synchronized principle axes are integrated across views using ground plane homography.The visual observation is further asynchronously incorporated with the laser data using sequential particle filtering,in which a smoo...