Geometric Relation matching based object identification for UAV and UGV cooperation

Cognitive sharing of objects is fundamental in a heterogeneous robot system composed of a Unmanned Aerial Vehicle and a ground robot. Since the viewpoint of UAV is greatly different from ground robot, they may have different perceptions about the same objects. That makes it difficult to realize cognitive sharing. In this paper, we proposed a cognitive sharing method between UAV and ground robot by sharing Geometric Relation-based Triangle Representations(GRTR). This paper discribes a robust method for UAV and ground robot to identify the same object among similar objects without sharing appearance information. To copy with the problem of increasing computational cost for the recognition of objects in the ROI, entropy evaluation is employed to evaluate and select unique representations. Finally, we illustrated the proposed method with robots in real world.