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Data fusion in ubiquitous networked robot systems for urban services

Merino, L, Gilbert, Andrew, Capitán, J, Bowden, Richard, Illingworth, John and Ollero, A (2012) Data fusion in ubiquitous networked robot systems for urban services Annales des Telecommunications/Annals of Telecommunications, 67 (7-8). pp. 355-375.

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Abstract

There is a clear trend in the use of robots to accomplish services that can help humans. In this paper, robots acting in urban environments are considered for the task of person guiding. Nowadays, it is common to have ubiquitous sensors integrated within the buildings, such as camera networks, and wireless communications like 3G or WiFi. Such infrastructure can be directly used by robotic platforms. The paper shows how combining the information from the robots and the sensors allows tracking failures to be overcome, by being more robust under occlusion, clutter, and lighting changes. The paper describes the algorithms for tracking with a set of fixed surveillance cameras and the algorithms for position tracking using the signal strength received by a wireless sensor network (WSN). Moreover, an algorithm to obtain estimations on the positions of people from cameras on board robots is described. The estimate from all these sources are then combined using a decentralized data fusion algorithm to provide an increase in performance. This scheme is scalable and can handle communication latencies and failures. We present results of the system operating in real time on a large outdoor environment, including 22 nonoverlapping cameras,WSN, and several robots. © Institut Mines-Télécom and Springer-Verlag 2012.

Item Type: Article
Authors :
NameEmailORCID
Merino, L
Gilbert, AndrewA.Gilbert@surrey.ac.uk
Capitán, J
Bowden, RichardR.Bowden@surrey.ac.uk
Illingworth, JohnJ.Illingworth@surrey.ac.uk
Ollero, A
Date : 1 August 2012
Identification Number : 10.1007/s12243-012-0311-1
Copyright Disclaimer : This is a post-peer-review, pre-copyedit version of an article published in Annales des Telecommunications/Annals of Telecommunications. The final authenticated version is available online at: http://dx.doi.org/10.1007/s12243-012-0311-1
Depositing User : Symplectic Elements
Date Deposited : 28 Oct 2015 10:48
Last Modified : 07 Jun 2018 08:43
URI: http://epubs.surrey.ac.uk/id/eprint/808970

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