中文标题#
基于视觉的去中心化自主空中野生动物监测
英文标题#
Decentralized Vision-Based Autonomous Aerial Wildlife Monitoring
中文摘要#
野生动物现场操作需要高效的并行部署方法，以识别和与特定个体互动，从而实现同时的集体行为分析以及健康和安全干预。 之前的机器人解决方案从群体角度出发，或者需要人工操作且规模有限。 我们提出了一种去中心化的基于视觉的多旋翼系统，用于野生动物监测，该系统具有可扩展性、低带宽和最少传感器（单个机载 RGB 摄像头）。 我们的方法能够在其自然栖息地中稳健地识别和跟踪大型物种。 我们开发了新颖的基于视觉的协调和跟踪算法，专为动态、非结构化环境设计，无需依赖集中式通信或控制。 我们通过现实世界的实验验证了我们的系统，展示了在各种现场条件下的可靠部署。
英文摘要#
Wildlife field operations demand efficient parallel deployment methods to identify and interact with specific individuals, enabling simultaneous collective behavioral analysis, and health and safety interventions. Previous robotics solutions approach the problem from the herd perspective, or are manually operated and limited in scale. We propose a decentralized vision-based multi-quadrotor system for wildlife monitoring that is scalable, low-bandwidth, and sensor-minimal (single onboard RGB camera). Our approach enables robust identification and tracking of large species in their natural habitat. We develop novel vision-based coordination and tracking algorithms designed for dynamic, unstructured environments without reliance on centralized communication or control. We validate our system through real-world experiments, demonstrating reliable deployment in diverse field conditions.
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