Vision-Based Cooperative Pose Estimation for Localization in Multi-Robot Systems Equipped with RGB-D CamerasReportar como inadecuado




Vision-Based Cooperative Pose Estimation for Localization in Multi-Robot Systems Equipped with RGB-D Cameras - Descarga este documento en PDF. Documentación en PDF para descargar gratis. Disponible también para leer online.



Department of Electrical and Computer Systems Engineering, Monash University, Melbourne 3800, Australia





*

Author to whom correspondence should be addressed.



Academic Editor: Wenjie Dong

Abstract We present a new vision based cooperative pose estimation scheme for systems of mobile robots equipped with RGB-D cameras. We first model a multi-robot system as an edge-weighted graph. Then, based on this model, and by using the real-time color and depth data, the robots with shared field-of-views estimate their relative poses in pairwise. The system does not need the existence of a single common view shared by all robots, and it works in 3D scenes without any specific calibration pattern or landmark. The proposed scheme distributes working loads evenly in the system, hence it is scalable and the computing power of the participating robots is efficiently used. The performance and robustness were analyzed both on synthetic and experimental data in different environments over a range of system configurations with varying number of robots and poses. View Full-Text

Keywords: pose estimation; RGB-D camera; self-calibration; cooperative localization; multi-robot coordination pose estimation; RGB-D camera; self-calibration; cooperative localization; multi-robot coordination





Autor: Xiaoqin Wang * , Y. Ahmet Şekercioğlu and Tom Drummond

Fuente: http://mdpi.com/



DESCARGAR PDF




Documentos relacionados