Use of cooperative robots in motion estimation with scale factor

Demir G., Voyles R.

IEEE 12th Signal Processing and Communications Applications Conference, Kusadasi, Turkey, 28 - 30 April 2004, pp.470-473 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/siu.2004.1338566
  • City: Kusadasi
  • Country: Turkey
  • Page Numbers: pp.470-473
  • Dokuz Eylül University Affiliated: No

Abstract

We have investigated the performance of estimating the 3D motion and structure when the scale information is obtained by utilizing the cooperative efforts of multiple robots. The method determines the relative positions of robots by tracking a specific geometric target present on each of them, and then uses the Extended Kalman Filter to estimate the motion and structure. We performed several experiments to explore the effects of cooperative running of robots on the motion estimation.