Range-aided ego-centric collaborative pose estimation for multiple robots

作者：

Highlights：

• Multiple robots relative pose estimation.

• UWB and IMU fusion.

• No requirement for fixed localization infrastructure.

• Flexible ego-centric position estimation.

摘要

•Multiple robots relative pose estimation.•UWB and IMU fusion.•No requirement for fixed localization infrastructure.•Flexible ego-centric position estimation.

论文关键词：Relative pose estimation,UWB,Ego-centric estimation,Sensor fusion

论文评审过程：Received 17 September 2021, Revised 17 January 2022, Accepted 28 March 2022, Available online 12 April 2022, Version of Record 4 May 2022.

论文官网地址：https://doi.org/10.1016/j.eswa.2022.117052