Cooperative localization by fusing vision-based bearing measurements and motion

Montesano, Luis; Gaspar, José António; Santos-Victor, José; Montano, Luis

doi:10.1109/iros.2005.1544953

Cited by 30 publications

(15 citation statements)

References 17 publications

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“…To reduce error accumulation, loop detection and refinement of the obtained models and paths are the principal, critical issues in SLAM. Besides these methods, cooperative localization by a team of mobile robots has been attracting much attention as a highly-precise selflocalization technique so far (Kurazume et al 1994;Howard et al 2003;Montesano et al 2005;Spletzer et al 2001;Rekleitis et al 2002;Panzieri et al 2006;Nerurkar et al 2009). In this method, robots are localized sequentially and alternatively by observing the positions of other robots in a team instead of natural or artificial stable landmarks.…”

Section: Related Workmentioning

confidence: 99%

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Laser-based geometrical modeling of large-scale architectural structures using co-operative multiple robots

et al. 2011

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For the construction of 3-D shape models of large-scale architectural structures using laser range finders, a number of range images are taken from different viewpoints around the targets. Next, the obtained images are normally aligned by post-processing procedures, such as the ICP algorithm. However, to obtain convergent results in the ICP algorithm and align these range images to their proper positions, the initial position of each range image needs to be manually aligned to roughly the correct position. This paper proposes a new measurement and modeling system using a group of multiple robots and an on-board laser range finder. Each measurement position is identified by a highly precise positioning technique called the Co-operative Positioning System (CPS), which utilizes the characteristics of the multiple-robot system. Therefore, the proposed system can construct 3-D shapes of large-scale architectural struc-Y. Tobata ( ) LinX Corporation, 1-13-11, Eda-nishi, tures without any post-processing procedure or manual intervention. In addition, it is possible to register range images even if the number of measurements is few and there are only a few range images, for example, due to range images containing insufficient feature shapes or overlapping regions. Measurement experiments in unknown and large indoor/outdoor environments including a large hall, a building, an urban district, and a cultural heritage have been successfully carried out using the newly developed measurement system consisting of three mobile robots named CPS-V. Path generation experiments of the mobile robots based on the partially measured 3-D model are also presented.

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Section: Related Workmentioning

confidence: 99%

“…In this paper, the information of relative positions between robots are broadcasted and shared among the robots. Vision-based cooperative localization methods are introduced in Montesano et al (2005), Spletzer et al (2001). In Spletzer et al (2001), a formation problem for a cooperative transportation task by multiple robots is discussed.…”

Section: Related Workmentioning

confidence: 99%

Laser-based geometrical modeling of large-scale architectural structures using co-operative multiple robots

et al. 2011

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“…However, most of the researches focus on how to improve the observational precise by using data fusion algorithm. In reference [10], re-parameterization of 2D Gaussian distributions fusion method is utilized to improve the observation accuracy by combining information from more than two cameras; The authors of reference [11] research the simultaneous localization and mapping (SLAM) problem by using two cooperative single monocular vision sensors, the visual data from which are treated by monocular methods and fused by the SLAM filter; in [12], Bayes estimator based algorithm for cooperative localization is proposed by fusing the bearing-only information provided by multiple cameras. Another strategy to improve the observation results using multiple robots is to regulate the coordinate behavior of the robots.…”

Section: Introductionmentioning

confidence: 99%

Dynamical vision sensors based active cooperative observation in three dimensional environment

Han

2013

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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-Vision based observation of a moving target is one of the important problems and hot issues of mobile robot system. Dynamical vision sensors which is constituted with multiple robots to obtain improved observational results has been shown to be a good substitution of single vision sensors. Thus, a new active cooperative observation (ACO) method based on two dynamical vision sensors is proposed. The most characteristics of the proposed method is that data fusion and path planning algorithm are simultaneously implemented and combined with each other by the optimal observation formation so that the influence of relative positions among MVSs and target on the cooperative observation result can be fully considered to improve the observation result. Finally, for verifying the validity and feasibility of the proposed method, experiments on a multiple rotor flying robots test-bed are conducted and analyzed, respectively.

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“…Along with ranging, relative bearing is useful for solving a variety of problems in robotics like pursuitevasion [11], formation control [18], localization [5] [17], SLAM [7], and navigation [3]. Similarly in wireless sensor networks the bearing of one node relative to another has been used for localization [20] [4] [21] and topology control [13] [22].…”

Section: Introductionmentioning

confidence: 99%

Relative bearing estimation from commodity radios

Dantu

Goyal

Sukhatme

2009

2009 IEEE International Conference on Robotics and Automation

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Abstract-Relative bearing between robots is important in applications like pursuit-evasion [11] and SLAM [7]. This is also true in in sensor networks, where the bearing of one sensor node relative to another has been used for localization Most systems use dedicated sensors like an IR array or a camera to obtain relative bearing. We study the use of radio signal strength (RSS) in commodity radios for obtaining relative bearing. We show that by using the robot's mobility, commodity radios can be used to obtain coarse relative bearing. This measurement can be used for a suite of applications that do not require very precise bearing measurement. We analyze signal strength variations in simulation and experiment. We also show an algorithm that uses this coarse bearing computation in a practical setting.

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Cooperative localization by fusing vision-based bearing measurements and motion

Cited by 30 publications

References 17 publications

Laser-based geometrical modeling of large-scale architectural structures using co-operative multiple robots

Laser-based geometrical modeling of large-scale architectural structures using co-operative multiple robots

Dynamical vision sensors based active cooperative observation in three dimensional environment

Relative bearing estimation from commodity radios

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