A concurrent learning approach to monocular vision range regulation of leader/follower systems

This paper explores range and bearing angle regulation of a leader–follower using monocular vision. The main challenge is that monocular vision does not directly provide a range measurement. The contribution is a novel concurrent learning (CL) approach, called CL Subtended Angle and Bearing Estimato...

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Bibliographic Details
Published in:Autonomous robots Vol. 48; no. 8; p. 26
Main Authors: Fairfax, Luisa, Vela, Patricio
Format: Journal Article
Language:English
Published: New York Springer US 01.12.2024
Springer Nature B.V
Subjects:
Artificial Intelligence
Communication
Computer Imaging
Control
Engineering
Euclidean geometry
Excitation
Geometry
Kalman filters
Learning
Mechatronics
Monocular vision
Parameter estimation
Pattern Recognition and Graphics
Robotics
Robotics and Automation
Robots
Vision
Concurrent learning
Finite excitation
Kalman filtering
Leader/follower
Monocular visual range regulation
Mobile robot following
ISSN:0929-5593, 1573-7527
Online Access:Get full text
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Summary:This paper explores range and bearing angle regulation of a leader–follower using monocular vision. The main challenge is that monocular vision does not directly provide a range measurement. The contribution is a novel concurrent learning (CL) approach, called CL Subtended Angle and Bearing Estimator for Relative pose (CL-SABER), which achieves range regulation without communication, persistency of excitation or known geometry and is demonstrated on a physical, robot platform. A history stack estimates target size which augments the Kalman filter (KF) with a range pseudomeasurement. The target is followed to scale without drift, persistency of excitation requirements, prior knowledge, or additional measurements . Finite excitation is required to achieve parameter convergence and perform steady-state regulation using CL-SABER. Evaluation using simulation and mobile robot experiments in special Euclidean planar space ( SE (2)) show that the new method provides stable and consistent range regulation, as demonstrated by the inter-rater reliability, including in noisy and high leader acceleration environments.
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ISSN:0929-5593
1573-7527
DOI:10.1007/s10514-024-10178-0