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

5 Citations (Scopus)


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
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 (Proceedings)


ConferenceInternational Conference on Control, Automation, Robotics and Vision 2016
Abbreviated titleICARCV 2016
Internet address


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

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