3-D mutual localization with anonymous bearing measurements

Marco Cognetti*, Paolo Stegagno, Antonio Franchi, Giuseppe Oriolo, Heinrich H. Bülthoff

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

16 Citations (Scopus)

Abstract

We present a decentralized algorithm for estimating mutual 3-D poses in a group of mobile robots, such as a team of UAVs. Our algorithm uses bearing measurements reconstructed, e.g., by a visual sensor, and inertial measurements coming from the robot IMU. Since identification of a specific robot in a group would require visual tagging and may be cumbersome in practice, we simply assume that the bearing measurements are anonymous. The proposed localization method is a non-trivial extension of our previous algorithm for the 2-D case [1], and exhibits similar performance and robustness. An experimental validation of the algorithm has been performed using quadrotor UAVs.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages791-798
Number of pages8
ISBN (Electronic)978-1-4673-1405-3, 978-1-4673-1404-6
ISBN (Print)978-1-4673-1403-9, 978-1-4673-1578-4
DOIs
Publication statusPublished - 2012
Externally publishedYes
Event2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - St. Paul, United States
Duration: 14 May 201218 May 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation (ICRA)
PublisherIEEE
Volume2012
ISSN (Print)1050-4729
ISSN (Electronic)1050-4729

Conference

Conference2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Abbreviated titleICRA
CountryUnited States
CitySt. Paul
Period14/05/1218/05/12

Fingerprint Dive into the research topics of '3-D mutual localization with anonymous bearing measurements'. Together they form a unique fingerprint.

Cite this