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Use of cooperative robots in motion estimation with scale factor

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2 Author(s)
Demir, G.K. ; Elektrik-Elektron. Muhendisligi Bolumu, Dokuz Eylul Univ., Izmir, Turkey ; Voyles, R.

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 have performed several experiments to explore the effects of cooperative running of robots on motion estimation.

Published in:

Signal Processing and Communications Applications Conference, 2004. Proceedings of the IEEE 12th

Date of Conference:

28-30 April 2004