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Author(s)

Achtelik, Markus W.
Weiss, Stephan
Chli, Margarita
Dellaert, Frank
Siegwart, Roland

Authors

Person

Dellaert, Frank

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Advisor(s)

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Organizational Unit

Institute for Robotics and Intelligent Machines (IRIM)

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Research Publications

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Permanent Link

http://hdl.handle.net/1853/44532

Abstract

In this paper, we propose a method to recover the relative pose of two robots in absolute scale and in realtime using one monocular camera on each robot. We achieve this by fusing measurements from the onboard inertial sensors on each platform with information obtained from feature correspondences between the two cameras using an Extended Kalman Filter (EKF). This forms a flexible stereo rig, providing the ability to treat the two robots as one single dynamic sensor, which can adapt to the environment and thus improve environmental mapping, obstacle avoidance and navigation. We demonstrate the power of this approach on both simulation and real datasets, employing two micro aerial vehicles (MAVs) to illustrate successful operation over general 3D motion.

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Date Issued

2011-09

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Text

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Proceedings

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