Experimental Characterization of a Bearing-only Sensor for Use With the PHD Filter
This work addresses sensor modeling for multi-target tracking in robotics, but it is incremental as it focuses on experimental characterization of an existing sensor type for a specific filter.
The authors characterized a bearing-only sensor for use with the PHD filter, resulting in detection, measurement, and clutter models that were applied in hardware and simulated experiments with mobile robots autonomously seeking unknown numbers of objects in an office environment.
This report outlines the procedure and results of an experiment to characterize a bearing-only sensor for use with PHD filter. The resulting detection, measurement, and clutter models are used for hardware and simulated experiments with a team of mobile robots autonomously seeking an unknown number of objects of interest in an office environment.