3-D mutual localization with anonymous bearing measurements

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

doi:10.1109/ICRA.2012.6225288

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 proceeding › Conference contribution › Academic › peer-review

19 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 language	English
Title of host publication	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Place of Publication	Piscataway, NJ
Publisher	IEEE
Pages	791-798
Number of pages	8
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	https://doi.org/10.1109/ICRA.2012.6225288
Publication status	Published - 2012
Externally published	Yes
Event	2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - St. Paul, United States Duration: 14 May 2012 → 18 May 2012

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation (ICRA)
Publisher	IEEE
Volume	2012
ISSN (Print)	1050-4729
ISSN (Electronic)	1050-4729

Conference

Conference	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Abbreviated title	ICRA
Country/Territory	United States
City	St. Paul
Period	14/05/12 → 18/05/12

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10.1109/ICRA.2012.6225288

Cite this

Cognetti, M., Stegagno, P., Franchi, A., Oriolo, G., & Bülthoff, H. H. (2012). 3-D mutual localization with anonymous bearing measurements. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 791-798). [6225288] (Proceedings - IEEE International Conference on Robotics and Automation (ICRA); Vol. 2012). IEEE. https://doi.org/10.1109/ICRA.2012.6225288

@inproceedings{2bb67ed51bac418d9b25c37b02f9fe85,

title = "3-D mutual localization with anonymous bearing measurements",

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.",

author = "Marco Cognetti and Paolo Stegagno and Antonio Franchi and Giuseppe Oriolo and B{\"u}lthoff, {Heinrich H.}",

year = "2012",

doi = "10.1109/ICRA.2012.6225288",

language = "English",

isbn = "978-1-4673-1403-9",

series = "Proceedings - IEEE International Conference on Robotics and Automation (ICRA)",

publisher = "IEEE",

pages = "791--798",

booktitle = "2012 IEEE International Conference on Robotics and Automation, ICRA 2012",

note = "2012 IEEE International Conference on Robotics and Automation, ICRA 2012 , ICRA ; Conference date: 14-05-2012 Through 18-05-2012",

}

Cognetti, M, Stegagno, P, Franchi, A, Oriolo, G & Bülthoff, HH 2012, 3-D mutual localization with anonymous bearing measurements. in 2012 IEEE International Conference on Robotics and Automation, ICRA 2012., 6225288, Proceedings - IEEE International Conference on Robotics and Automation (ICRA), vol. 2012, IEEE, Piscataway, NJ, pp. 791-798, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 , St. Paul, Minnesota, United States, 14/05/12. https://doi.org/10.1109/ICRA.2012.6225288

3-D mutual localization with anonymous bearing measurements. / Cognetti, Marco; Stegagno, Paolo; Franchi, Antonio et al.

2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Piscataway, NJ : IEEE, 2012. p. 791-798 6225288 (Proceedings - IEEE International Conference on Robotics and Automation (ICRA); Vol. 2012).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - 3-D mutual localization with anonymous bearing measurements

AU - Cognetti, Marco

AU - Stegagno, Paolo

AU - Franchi, Antonio

AU - Oriolo, Giuseppe

AU - Bülthoff, Heinrich H.

PY - 2012

Y1 - 2012

N2 - 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.

AB - 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.

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DO - 10.1109/ICRA.2012.6225288

M3 - Conference contribution

AN - SCOPUS:84864462718

SN - 978-1-4673-1403-9

SN - 978-1-4673-1578-4

T3 - Proceedings - IEEE International Conference on Robotics and Automation (ICRA)

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BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012

PB - IEEE

CY - Piscataway, NJ

T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012

Y2 - 14 May 2012 through 18 May 2012

ER -

3-D mutual localization with anonymous bearing measurements

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