TY - GEN
T1 - Communication Efficient Cooperative Visual-Range-Inertial Localization
AU - Li, Chunyu
AU - Wang, Jianan
AU - Liu, Junhui
AU - Shan, Jiayuan
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - In this paper, the cooperative navigation issue is investigated for a group of robots. A distributed estimation architecture fusing range and visual measurements is proposed. Both the relative range and co-observed features are utilized to construct direct and indirect geometric constraints between robots respectively. To solve the difficult problem of calculating the cross covariance between local estimators, the covariance intersection (CI) algorithm is adopted to design a fully distributed and scalable cooperative estimator. To avoid unnecessary data transmission in feature matching process between different robots, a frustum view overlapping prediction algorithm is developed, which works effectively on reducing data transmission. Compared with existing algorithm, the proposed estimator achieves better accuracy with lower communication cost.
AB - In this paper, the cooperative navigation issue is investigated for a group of robots. A distributed estimation architecture fusing range and visual measurements is proposed. Both the relative range and co-observed features are utilized to construct direct and indirect geometric constraints between robots respectively. To solve the difficult problem of calculating the cross covariance between local estimators, the covariance intersection (CI) algorithm is adopted to design a fully distributed and scalable cooperative estimator. To avoid unnecessary data transmission in feature matching process between different robots, a frustum view overlapping prediction algorithm is developed, which works effectively on reducing data transmission. Compared with existing algorithm, the proposed estimator achieves better accuracy with lower communication cost.
UR - http://www.scopus.com/inward/record.url?scp=85177432115&partnerID=8YFLogxK
U2 - 10.1109/CoDIT58514.2023.10284466
DO - 10.1109/CoDIT58514.2023.10284466
M3 - Conference contribution
AN - SCOPUS:85177432115
T3 - 9th 2023 International Conference on Control, Decision and Information Technologies, CoDIT 2023
SP - 895
EP - 900
BT - 9th 2023 International Conference on Control, Decision and Information Technologies, CoDIT 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th International Conference on Control, Decision and Information Technologies, CoDIT 2023
Y2 - 3 July 2023 through 6 July 2023
ER -