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  3-D Mutual Localization with Anonymous Bearing Measurements

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.

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 Creators:
Cognetti, M, Author              
Stegagno, P, Author              
Franchi, A1, 2, Author              
Oriolo, G, Author
Bülthoff, HH1, 2, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              

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 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.

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 Dates: 2012-05
 Publication Status: Published in print
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 Rev. Type: -
 Identifiers: DOI: 10.1109/ICRA.2012.6225288
BibTex Citekey: CognettiSFOB2012
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Title: IEEE International Conference on Robotics and Automation (ICRA 2012)
Place of Event: St. Paul, MN, USA
Start-/End Date: 2012-05-14 - 2012-05-18

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Title: 2012 IEEE International Conference on Robotics and Automation
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 791 - 798 Identifier: ISBN: 978-1-4673-1405-3