里程计
初始化
稳健性(进化)
人工智能
计算机视觉
计算机科学
机器人
姿势
保险丝(电气)
测距
传感器融合
惯性测量装置
移动机器人
工程类
生物化学
电信
基因
电气工程
化学
程序设计语言
作者
Shijian Zheng,Zhitian Li,Y. Liu,H. Zhang,Pengcheng Zheng,Xiong Liang,Y. Li,Xianbiao Bu,Xudong Zou
出处
期刊:IEEE robotics and automation letters
日期:2022-10-01
卷期号:7 (4): 11950-11957
被引量:5
标识
DOI:10.1109/lra.2022.3208354
摘要
The relative pose estimation is one of the most fundamental components for multi-robot systems, while it still remains an open and challenging research topic in infrastructure-free environment. In this letter, we target improving the accuracy and robustness of relative pose estimation for ground robotic teams, and propose to fuse range and odometry measurements to estimate the relative pose using sliding window optimization. In the system, multiple UWB tags for ranging are equipped on each robot, and visual inertial odometry is applied for estimating the ego-motion pose for each robot. Aiming for simple and effective relative pose initialization, the triangulation uncertainty for multi-tag robots is analyzed, and an initialization method is designed. To cope with the complex environments such as continuous NLOS condition, a NLOS detection and range measurements filtering method is presented. We have conducted series of experiments to demonstrate the performance of the proposed approach.
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