Three-Dimensional Kinematics-Based Real-Time Localization Method Using
Two Robots
Abstract
This paper presents a precise two-robot collaboration method for
3D self-localization relying on a single rotating camera and onboard
accelerometers used to measure the tilt of the robots. This method
allows for localization in GPS-denied environments and in the presence
of magnetic interference or relatively (or totally) dark and
unstructured unmarked locations. One robot moves forward on each step
while the other remains stationary. The tilt angles of the robots
obtained from the accelerometers and the rotational angle of the turret,
associated with the video analysis, make it possible to continuously
calculate the location of each robot. We describe a hardware setup used
for experiments and provide a detailed description of the algorithm that
fuses the data obtained by the accelerometers and cameras and runs in
real-time on onboard micro-computers. Finally, we present 2D and 3D
experimental results, which show that the system achieves 2% accuracy
for the total travelled distance.
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