Distributed Visual-Inertial Cooperative Localization Article Swipe
Pengxiang Zhu
,
Patrick Geneva
,
Wei Ren
,
Guoquan Huang
·
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2103.12770
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2103.12770
In this paper we present a consistent and distributed state estimator for multi-robot cooperative localization (CL) which efficiently fuses environmental features and loop-closure constraints across time and robots. In particular, we leverage covariance intersection (CI) to allow each robot to only estimate its own state and autocovariance and compensate for the unknown correlations between robots. Two novel multi-robot methods for utilizing common environmental SLAM features are introduced and evaluated in terms of accuracy and efficiency. Moreover, we adapt CI to enable drift-free estimation through the use of loop-closure measurement constraints to other robots' historical poses without a significant increase in computational cost. The proposed distributed CL estimator is validated against its non-realtime centralized counterpart extensively in both simulations and real-world experiments.
Related Topics
Concepts
Robot
Leverage (statistics)
Estimator
Covariance
Covariance intersection
Computer science
Simultaneous localization and mapping
Autocovariance
Inertial frame of reference
State estimator
Artificial intelligence
Intersection (aeronautics)
State (computer science)
Algorithm
Kalman filter
Mobile robot
Engineering
Mathematics
Extended Kalman filter
Statistics
Quantum mechanics
Mathematical analysis
Physics
Aerospace engineering
Fourier transform
Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2103.12770
- https://arxiv.org/pdf/2103.12770
- OA Status
- green
- Cited By
- 2
- References
- 30
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W3138864150
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W3138864150Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.48550/arxiv.2103.12770Digital Object Identifier
- Title
-
Distributed Visual-Inertial Cooperative LocalizationWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2021Year of publication
- Publication date
-
2021-03-23Full publication date if available
- Authors
-
Pengxiang Zhu, Patrick Geneva, Wei Ren, Guoquan HuangList of authors in order
- Landing page
-
https://arxiv.org/abs/2103.12770Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/2103.12770Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/2103.12770Direct OA link when available
- Concepts
-
Robot, Leverage (statistics), Estimator, Covariance, Covariance intersection, Computer science, Simultaneous localization and mapping, Autocovariance, Inertial frame of reference, State estimator, Artificial intelligence, Intersection (aeronautics), State (computer science), Algorithm, Kalman filter, Mobile robot, Engineering, Mathematics, Extended Kalman filter, Statistics, Quantum mechanics, Mathematical analysis, Physics, Aerospace engineering, Fourier transformTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
2Total citation count in OpenAlex
- Citations by year (recent)
-
2023: 2Per-year citation counts (last 5 years)
- References (count)
-
30Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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| publication_year | 2021 |
| referenced_works | https://openalex.org/W2897551763, https://openalex.org/W2027055074, https://openalex.org/W605763459, https://openalex.org/W3089385477, https://openalex.org/W2980788490, https://openalex.org/W3012268014, https://openalex.org/W1972785301, https://openalex.org/W2968784647, https://openalex.org/W2118223742, https://openalex.org/W1559536185, https://openalex.org/W3002818939, https://openalex.org/W3091667825, https://openalex.org/W2793866255, https://openalex.org/W3003794538, https://openalex.org/W2797395780, https://openalex.org/W3086203063, https://openalex.org/W1989484209, https://openalex.org/W2138890480, https://openalex.org/W7309667, https://openalex.org/W2968489055, https://openalex.org/W2997918075, https://openalex.org/W2396274919, https://openalex.org/W2117228865, https://openalex.org/W2745859992, https://openalex.org/W1570939900, https://openalex.org/W1981983914, https://openalex.org/W2118877769, https://openalex.org/W2238582461, https://openalex.org/W2909157769, https://openalex.org/W2907933290 |
| referenced_works_count | 30 |
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