用闪烁标记实现无人机编队快速定位与通信，提升真实环境下的鲁棒性。
Towards agile multi-robot systems in the real world: Fast onboard tracking of active blinking markers for relative localization
- 通过加权多项式预测闪烁标记位置，解决快速移动带来的追踪难题。
- 室外实验显示追踪密度、精度和计算复杂度均优于现有方法。
- 适合需要高机动性编队定位与光学通信的无人机系统研发人员。
本文提出一种新型机载跟踪方法——主动闪烁标记追踪（AMT），实现基于视觉的相对定位与通信。多机器人团队成员上的主动闪烁标记在真实部署中提升了空中飞行器在紧密耦合多机器人系统中的相对定位鲁棒性，同时充当抗干扰通信系统。传统追踪算法因标记在图像帧中间歇出现且跨帧关联复杂，难以处理高速移动的闪烁标记。AMT通过加权多项式回归预测标记未来出现位置，并考虑预测不确定性，显著改善追踪性能。在户外实验中，该方法在追踪密度、准确性和计算复杂度方面均超越当前最优技术。实验验证了该追踪方法在敏捷多机器人部署场景下的相对定位与光学通信有效性。
原文摘要 · Abstract (English)
A novel onboard tracking approach enabling vision-based relative localization and communication using Active blinking Marker Tracking (AMT) is introduced in this article. Active blinking markers on multi-robot team members improve the robustness of relative localization for aerial vehicles in tightly coupled multi-robot systems during real-world deployments, while also serving as a resilient communication system. Traditional tracking algorithms struggle with fast-moving blinking markers due to their intermittent appearance in camera frames and the complexity of associating multiple of these markers across consecutive frames. AMT addresses this by using weighted polynomial regression to predict the future appearance of active blinking markers while accounting for uncertainty in the prediction. In outdoor experiments, the AMT approach outperformed state-of-the-art methods in tracking density, accuracy, and complexity. The experimental validation of this novel tracking approach for relative localization and optical communication involved testing motion patterns motivated by our research on agile multi-robot deployment.
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