3-D Mutual Localization with Anonymous Bearing Measurements

Cognetti, M; Stegagno, P; Franchi, A; Oriolo, G; Bülthoff, HH

doi:10.1109/ICRA.2012.6225288

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3-D Mutual Localization with Anonymous Bearing Measurements

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Franchi, A
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Bülthoff, HH
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Citation

Cognetti, M., Stegagno, P., Franchi, A., Oriolo, G., & Bülthoff, H. (2012). 3-D Mutual Localization with Anonymous Bearing Measurements. In 2012 IEEE International Conference on Robotics and Automation (pp. 791-798). Piscataway, NJ, USA: IEEE.

Cite as: https://hdl.handle.net/11858/00-001M-0000-0013-B778-2

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.