Distributed Simultaneous Localisation and Auto-Calibration using Gaussian Belief Propagation

Autor:	Murai, Riku, Alzugaray, Ignacio, Kelly, Paul H. J., Davison, Andrew J.
Rok vydání:	2024
Předmět:	Computer Science - Robotics Computer Science - Multiagent Systems
Zdroj:	IEEE Robotics and Automation Letters, vol. 9, no. 3, pp. 2136-2143, March 2024
Druh dokumentu:	Working Paper
DOI:	10.1109/LRA.2024.3352361
Popis:	We present a novel scalable, fully distributed, and online method for simultaneous localisation and extrinsic calibration for multi-robot setups. Individual a priori unknown robot poses are probabilistically inferred as robots sense each other while simultaneously calibrating their sensors and markers extrinsic using Gaussian Belief Propagation. In the presented experiments, we show how our method not only yields accurate robot localisation and auto-calibration but also is able to perform under challenging circumstances such as highly noisy measurements, significant communication failures or limited communication range. Comment: Published in IEEE Robotics and Automation Letters (RA-L) 2024
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2401.15036 Zobrazit plný text záznamu View this record from Arxiv