ICRA 2011 Paper Abstract


Paper ThA110.4

Zhou, Xun (University of Minnesota), Roumeliotis, Stergios (University of Minnesota)

Determining the Robot-To-Robot 3D Relative Pose Using Combinations of Range and Bearing Measurements (Part II)

Scheduled for presentation during the Regular Sessions "Localization I" (ThA110), Thursday, May 12, 2011, 09:05−09:20, Room 5E

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 19, 2019

Keywords Localization, Kinematics, Autonomous Navigation


In this paper, we address the problem of motion-induced 3D robot-to-robot extrinsic calibration based on different combinations of inter-robot measurements (i.e., distance and/or bearing observations) and ego-motion estimates, recorded across multiple time steps. In particular, we focus on solving minimal problems where the unknown 6-degree-of-freedom transformation between two robots is determined based on the minimum number of measurements necessary for finding a discrete set of solutions. In our previous work [19], we have shown that only 14 base systems need to be solved, and provided closed-form solutions for three of them. This paper considers the remaining systems and provides closed-form solutions to most of them, while for some of the most challenging problems, we introduce efficient symbolic-numerical solution methods. Finally, we evaluate the performance of our proposed solvers through extensive simulations.



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