Localization of leader-follower formations using kinect and RTK-GPS

The localization is an important task for intelligent mobile robot systems and the robot cooperation may bring benefits for the task in a multi-robot team. A localization method for leader-follower formations is proposed in this paper. In the proposed method, the leader robot adopts an Extended Kalman filter to fuses data from multiple sensors. Kinect with depth camera is a rich source of information for the relative localization of the follower mobile robot. In the paper, we focus our attention on Kinect sensor and discuss how to determine the relative localization of the follower robot using the frame information from Kinect sensor. The experiment results have demonstrated the effectiveness of the proposed method.