Target detection and Tracking using Hybrid Target Tracking (HTT) algorithm. As shown in the figure below, a rgb visual marker is attached to the side frame of the target robot, and the centroid position of the 3 colored markers is tracked for Image Based Visual Servoing.
REFERENCES:
[1] Sohal, S. S., Ben-Tzvi, P., “Image-Based Motion Analysis for Self-Reconfigurable Mobile Robot with Integrated Docking”, Proceedings of the 2019 ASME IDETC/CIE, 43rd Mechanisms and Robotics Conference, Anaheim, California, Aug. 18-21, 2019. Accepted.
[2] Sohal, S. S., Saab, W., Ben-Tzvi, P., “Improved Alignment Estimation for Autonomous Docking of Mobile Robots”, Proceedings of the 2018 ASME IDETC/CIE, 42nd Mechanisms and Robotics Conference, Quebec City, Canada, Aug. 26-29, 2018.