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Cognetti, Marco, Stegagno, Paolo, Franchi, Antonio and Oriolo, Giuseppe (2012) Two Measurement Scenarios for Anonymous Mutual Localization in Multi-UAV Systems. IFAC Proceedings Volumes, 45 (28). pp. 13-18. ISSN 14746670
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Abstract
We present a method for reconstructing the relative poses among the components of a multi-UAV system using anonymous (i.e., without identity information) robot-to-robot measurements. We consider two cases: bearing-only and bearing+distance measurements. While bearing can be rather directly extracted from a camera image, visual reconstruction of distances is more elaborate and typically associated with a larger noise. Nevertheless, our experiments show that use of such metric information improves significantly the quality of the localization.
| Item Type: | Article |
|---|---|
| Keywords: | Localization; anonymous measurements; 3-D environment; multi-UAV; |
| Academic Unit: | Faculty of Science and Engineering > Electronic Engineering Faculty of Science and Engineering > Research Institutes > Hamilton Institute |
| Item ID: | 15327 |
| Identification Number: | 10.3182/20121003-3-SF-4024.00006 |
| Depositing User: | Marco Cognetti |
| Date Deposited: | 24 Jan 2022 15:46 |
| Journal or Publication Title: | IFAC Proceedings Volumes |
| Publisher: | Elsevier |
| Refereed: | Yes |
| Related URLs: | |
| URI: | https://mural.maynoothuniversity.ie/id/eprint/15327 |
| Use Licence: | This item is available under a Creative Commons Attribution Non Commercial Share Alike Licence (CC BY-NC-SA). Details of this licence are available here |
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