Scale and 2D relative pose estimation of two rovers using monocular cameras and range measurements

Chen Zhu, Gabriele Giorgi, Christoph Günther

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

Cooperative swarms of robots equipped with cameras are robust against failures, and can explore GNSS (Global Navigation Satellite System)-denied environments efficiently. VSLAM (Visual Simultaneous Localization and Mapping) techniques have been developed in recent years to estimate the trajectory of vehicles and to simultaneously reconstruct the map of the environment using visual clues. Due to constraints on payload size, weight, and costs, many VSLAM applications must be based on a single camera. The associated monocular estimation of the trajectory and map is ambiguous by a scale factor. This work shows that by exploiting sparse range measurements between a pair of dynamic rovers in planar motion, the correct scale factors of both cameras and the relative position, as well as the relative attitude between the rovers, can be estimated.

Original languageEnglish
Title of host publication29th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2016
PublisherInstitute of Navigation
Pages794-800
Number of pages7
ISBN (Electronic)9781510834101
DOIs
StatePublished - 2016
Event29th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2016 - Portland, United States
Duration: 12 Sep 201616 Sep 2016

Publication series

Name29th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2016
Volume2

Conference

Conference29th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2016
Country/TerritoryUnited States
CityPortland
Period12/09/1616/09/16

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