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A Monocular Vision-based System for 6D Relative Robot Localization

Breitenmoser, Andreas; Kneip, Laurent; Siegwart, Roland


The objective of this paper is the full 6D relative localization of mobile devices, and direct robot-robot localization in particular. We present a novel relative localization system that consists of two complementary modules: a monocular vision module and a target module with four active or passive markers. The core localization algorithm running on the modules determines the marker positions in the camera image and derives the relative robot pose in 3D space. The system is supported by a...[Show more]

CollectionsANU Research Publications
Date published: 2011
Type: Conference paper
Source: Proceedings of 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
DOI: 10.1109/IROS.2011.6094851


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