Our paper on coordinated localization is accepted to IEEE Transactions on Automation Science and Engineering

[2014/08/30]

The following paper is accepted to IEEE Transactions on Automation Science and Engineering:

  • Vision-Based Coordinated Localization for Mobile Sensor Networks by Junghun Suh, Seungil You, Sungjoon Choi, and Songhwai Oh
  • Abstract: In this paper, we propose a coordinated localization algorithm for mobile sensor networks with camera sensors to operate under GPS denied areas or indoor environments. Mobile robots are partitioned into two groups. One group moves within the field of views of remaining stationary robots. The moving robots are tracked by stationary robots and their trajectories are used as spatio-temporal features. From these spatio-temporal features, relative poses of robots are computed using multi-view geometry and a group of robots is localized with respect to the reference coordinate based on the proposed multi-robot localization. Once poses of all robots are recovered, a group of robots moves from one location to another while maintaining the formation of robots for coordinated localization under the proposed multi-robot navigation strategy. By taking the advantage of a multi-agent system, we can reliably localize robots over time as they perform a group task. In experiment, we demonstrate that the proposed method consistently achieves a localization error rate of 0.37% or less for trajectories of length between 715 cm and 890 cm using an inexpensive off-the-shelf robotic platform.