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

Department of Brain and Cognitive Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	791-798
Number of pages	8
ISBN (Print)	9781467314039
DOIs	https://doi.org/10.1109/ICRA.2012.6225288
Publication status	Published - 2012
Event	2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States Duration: 2012 May 14 → 2012 May 18

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Country/Territory	United States
City	Saint Paul, MN
Period	12/5/14 → 12/5/18

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ICRA.2012.6225288

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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). Institute of Electrical and Electronics Engineers Inc.. 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. Institute of Electrical and Electronics Engineers Inc., 2012. p. 791-798 6225288 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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, Institute of Electrical and Electronics Engineers Inc., pp. 791-798, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012, Saint Paul, MN, United States, 12/5/14. https://doi.org/10.1109/ICRA.2012.6225288

Cognetti M, Stegagno P, Franchi A, Oriolo G, Bülthoff HH. 3-D mutual localization with anonymous bearing measurements. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc. 2012. p. 791-798. 6225288. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2012.6225288

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3-D mutual localization with anonymous bearing measurements

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