multi-camera sensor system for 3d segmentation and localization of multiple mobile robots多幅相机传感器系统对3 d分割和多移动机器人的定位.pdfVIP

Sensors 2010, 10, 3261-3279; doi:10.3390/s100403261 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Multi-Camera Sensor System for 3D Segmentation and Localization of Multiple Mobile Robots Cristina Losada *, Manuel Mazo, Sira Palazuelos, Daniel Pizarro and Marta Marrón Electronics Department, University of Alcalá, Campus Universitario s/n, 28805, Alcalá de Henares, Madrid. Spain. E-Mails: mazo@depeca.uah.es (M.M.); sira@depeca.uah.es (S.P.); pizarro@depeca.uah.es (D.P.); marta@depeca.uah.es (M.M). * Author to whom correspondence should be addressed; E-Mail: losada@depeca.uah.es; Tel.: +34-918-856-592; Fax: +34-918-856-591. Received: 5 February 2010; in revised form: 23 March 2010 / Accepted: 26 March 2010 / Published: 1 April 2010 Abstract: This paper presents a method for obtaining the motion segmentation and 3D localization of multiple mobile robots in an intelligent space using a multi-camera sensor system. The set of calibrated and synchronized cameras are placed in fixed positions within the environment (intelligent space). The proposed algorithm for motion segmentation and 3D localization is based on the minimization of an objective function. This function includes information from all the cameras, and it does not rely on previous knowledge or invasive landmarks on board the robots. The proposed objective function depends on three groups of variables: the segmentation boundaries, the motion parameters and the depth. For the objective fun