Tim Lakemann presents Towards agile multi-robot systems in the real world: Fast onboard tracking of active blinking marker
On 2026-01-15 - 2026-01-15 11:00:00 at E112, Karlovo náměstí 13, Praha 2
Abstract:
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.
This seminar will be a short seminar (20 min).
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.
This seminar will be a short seminar (20 min).