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Laser Ranging-Assisted Binocular Visual Sensor Tracking System.

Qilong Wang¹, Yu Zhang², Weichao Shi¹

¹School of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an 710048, China.

Sensors (Basel, Switzerland)

|February 5, 2020

Summary

This summary is machine-generated.

This study enhances target tracking accuracy by using a laser-ranging sensor to correct binocular vision sensor data. Direct updates and federated filtering significantly improve real-time performance and measurement precision.

Keywords:

binocular vision information fusion laser ranging sensor target tracking time delay

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Area of Science:

Robotics and Automation
Computer Vision
Sensor Fusion

Background:

Binocular vision sensors suffer from low measurement accuracy along the optical axis during target tracking.
Laser-ranging sensors provide depth information but can experience measurement lag due to mechanical limitations.

Purpose of the Study:

To improve the measurement accuracy and real-time performance of binocular vision sensors in target tracking.
To develop a method for auxiliary correction using laser-ranging sensor data.
To address the time delay issue in laser-ranging sensor measurements.

Main Methods:

Proposed a direct update algorithm to address the time delay in laser-ranging sensor measurements.
Implemented federated filtering to fuse data from binocular vision and laser-ranging sensors.
Utilized federated filtering to enhance information utilization, measurement accuracy, and solve estimated correlation.

Main Results:

The direct update algorithm effectively solved the time delay problem of the laser-ranging sensor.
Federated filtering improved information utilization and measurement accuracy.
Experimental results demonstrated enhanced real-time performance and measurement accuracy in the laser ranging-assisted binocular visual-tracking system.

Conclusions:

The proposed method significantly improves the accuracy and real-time capabilities of binocular vision-based target tracking systems.
The integration of laser-ranging sensors with direct updates and federated filtering offers substantial benefits for engineering applications.
This research provides valuable insights for the application of binocular vision and laser-ranging sensors in target tracking.