@inproceedings{a7e08e3579684d8d85bc87eb154d8d76,
title = "Relative Pose Estimation from Range Measurements for Collaborative SLAM System",
abstract = "In this paper, we propose an algorithm that estimate 3D relative pose transformation based on range measurements between robots and pose estimates produced by VI-SLAM system. Specifically, we prove that 5 range measurements is needed at least to estimate 4 degrees-of-freedom relative pose transformation for nonsingular configurations. Additionally, a more efficient algebraic method is proposed to compute the unique solution which can be used as a good initial estimate for refinement process. Furthermore, we refine the initial estimate through iterative process to improve accuracy in the presence of noise. Finally, we validate the algorithm in simulation. The proposed algorithm based on range measurement is intended for use in collaborative SLAM system where map merging can be performed in more proactive manner, as contrast to the methods based on vision.",
keywords = "Algebraic method, Collaborative slam, Relative pose estimation",
author = "Yang Zhang and Jianglong Yu and Qingdong Li and Xiwang Dong and Zhang Ren",
note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; International Conference on Guidance, Navigation and Control, ICGNC 2022 ; Conference date: 05-08-2022 Through 07-08-2022",
year = "2023",
doi = "10.1007/978-981-19-6613-2\_615",
language = "英语",
isbn = "9789811966125",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "6381--6390",
editor = "Liang Yan and Haibin Duan and Yimin Deng and Liang Yan",
booktitle = "Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control",
address = "德国",
}