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In this paper, we study the problem of Cooperative Localization (CL) for two robots, each equipped with an Inertial Measurement Unit (IMU) and a camera. We present an algorithm that enables the robots to exploit common features, observed over a sliding-window time horizon, in order to improve the localization accuracy of both vehicles. In contrast to existing CL methods, which require robot-to-robot...
In order to fuse camera and odometer measurements, we first need to estimate their relative transformation through the so-called odometer-camera extrinsic calibration. In this paper, we present a two-step analytical least-squares solution for the extrinsic odometer-camera calibration that (i) is not iterative and finds the least-squares optimal solution without any initialization, and (ii) does not...
We present a new strategy for active vision-based localization and navigation of a mobile robot in a visual memory, i.e., within a previously-visited area represented as a large collection of images. Vision-based localization in such a large and dynamic visual map is intrinsically ambiguous, since more than one map-locations can exhibit the same visual appearance as the current image observed by the...
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