Relative localization with computer vision and UWB range for flying robot formation control

B. Ramirez , H. Chung, H. Derhamy, J. Eliasson, J.C. Barca

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

Abstract

Relative localization is a core problem for swarm robotics since each swarm node must determine where neighboring robots are located to accomplish cooperative tasks such as formation control. In this paper we present a system that performs relative localization between a stationary marker and a flying robot in real-time. Relative distances are obtained using ultra-wide band radio, while a low-cost webcam provide angle measurements. To achieve the latter, we employed the Camshift algorithm and a Kalman filter. We tested our system outdoors during daylight using centimeter-accuracy GPS measurements as ground truth. Three data sets have been collected from a series of experiments and it shows that errors in estimated relative positions are between +/-0.190 m on the x-East axis and +/-0.291 m on the z-North axis at 95% confidence level
Original languageEnglish
Title of host publication2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV 2014)
Subtitle of host publicationPhuket, Thailand, 13-15 November 2016
Place of PublicationPiscataway, NJ
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)9781509035496
ISBN (Print)9781509035502
DOIs
Publication statusPublished - 2 Feb 2017
EventInternational Conference on Control, Automation, Robotics and Vision 2016 - Phuket, Thailand
Duration: 13 Nov 201615 Nov 2016
Conference number: 14th
http://icarcv.org/2016/home.asp

Conference

ConferenceInternational Conference on Control, Automation, Robotics and Vision 2016
Abbreviated titleICARCV 2016
CountryThailand
CityPhuket
Period13/11/1615/11/16
Internet address

Keywords

  • Flying robot
  • Relative localization
  • UWB range
  • Computer vision
  • Camshift

Cite this

Ramirez , B., Chung, H., Derhamy, H., Eliasson, J., & Barca, J. C. (2017). Relative localization with computer vision and UWB range for flying robot formation control. In 2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV 2014): Phuket, Thailand, 13-15 November 2016 [7838839] Piscataway, NJ: IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICARCV.2016.7838839
Ramirez , B. ; Chung, H. ; Derhamy, H. ; Eliasson, J. ; Barca, J.C. / Relative localization with computer vision and UWB range for flying robot formation control. 2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV 2014): Phuket, Thailand, 13-15 November 2016. Piscataway, NJ : IEEE, Institute of Electrical and Electronics Engineers, 2017.
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Ramirez , B, Chung, H, Derhamy, H, Eliasson, J & Barca, JC 2017, Relative localization with computer vision and UWB range for flying robot formation control. in 2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV 2014): Phuket, Thailand, 13-15 November 2016., 7838839, IEEE, Institute of Electrical and Electronics Engineers, Piscataway, NJ, International Conference on Control, Automation, Robotics and Vision 2016, Phuket, Thailand, 13/11/16. https://doi.org/10.1109/ICARCV.2016.7838839

Relative localization with computer vision and UWB range for flying robot formation control. / Ramirez , B.; Chung, H.; Derhamy, H.; Eliasson, J.; Barca, J.C.

2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV 2014): Phuket, Thailand, 13-15 November 2016. Piscataway, NJ : IEEE, Institute of Electrical and Electronics Engineers, 2017. 7838839.

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

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Ramirez B, Chung H, Derhamy H, Eliasson J, Barca JC. Relative localization with computer vision and UWB range for flying robot formation control. In 2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV 2014): Phuket, Thailand, 13-15 November 2016. Piscataway, NJ: IEEE, Institute of Electrical and Electronics Engineers. 2017. 7838839 https://doi.org/10.1109/ICARCV.2016.7838839