中文标题#
基於視覺的去中心化自主空中野生動物監測
英文标题#
Decentralized Vision-Based Autonomous Aerial Wildlife Monitoring
中文摘要#
野生動物現場操作需要高效的並行部署方法，以識別和與特定個體互動，從而實現同時的集體行為分析以及健康和安全干預。 之前的機器人解決方案從群體角度出發，或者需要人工操作且規模有限。 我們提出了一種去中心化的基於視覺的多旋翼系統，用於野生動物監測，該系統具有可擴展性、低帶寬和最少傳感器（單個機載 RGB 攝像頭）。 我們的方法能夠在其自然棲息地中穩健地識別和跟蹤大型物種。 我們開發了新穎的基於視覺的協調和跟蹤算法，專為動態、非結構化環境設計，無需依賴集中式通信或控制。 我們通過現實世界的實驗驗證了我們的系統，展示了在各種現場條件下的可靠部署。
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.
文章页面#
PDF 获取#
抖音掃碼查看更多精彩內容