Interrobot transformations in 3-D

Nikolas Trawny; Xun S. Zhou; Ke Zhou; Stergios I. Roumeliotis

doi:10.1109/TRO.2010.2042539

Interrobot transformations in 3-D

Nikolas Trawny, Xun S. Zhou, Ke Zhou, Stergios I. Roumeliotis

Computer Science and Engineering

Research output: Contribution to journal › Article › peer-review

54 Scopus citations

Abstract

In this paper, we provide a study of motion-induced 3-D extrinsic calibration based on robot-to-robot sensor measurements. In particular, we introduce algebraic methods to compute the relative translation and rotation between two robots using known robot motion and robot-to-robot 1) distance and bearing, 2) bearing-only, and 3) distance-only measurements. We further conduct a nonlinear observability analysis and provide sufficient conditions for the 3-D relative position and orientation (pose) to become locally weakly observable. Finally, we present a nonlinear weighted least-squares estimator to refine the algebraic pose estimate in the presence of noise. We use simulations to evaluate the performance of our methods in terms of accuracy and robustness.

Original language	English (US)
Article number	5437247
Pages (from-to)	226-243
Number of pages	18
Journal	IEEE Transactions on Robotics
Volume	26
Issue number	2
DOIs	https://doi.org/10.1109/TRO.2010.2042539
State	Published - Apr 2010

Bibliographical note

Funding Information:
Manuscript received February 5, 2009; revised August 23, 2009 and February 1, 2010. Current version published April 7, 2010. This paper was recommended for publication by Associate Editor P. Rives and Editor L. Parker upon evaluation of the reviewers’ comments. This work was supported by the University of Minnesota (Digital Technology Center) and the National Science Foundation under Grant IIS-0643680, Grant IIS-0811946, and Grant IIS-0835637.

Keywords

3-D extrinsic calibration
Cooperative localization

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10.1109/TRO.2010.2042539

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title = "Interrobot transformations in 3-D",

abstract = "In this paper, we provide a study of motion-induced 3-D extrinsic calibration based on robot-to-robot sensor measurements. In particular, we introduce algebraic methods to compute the relative translation and rotation between two robots using known robot motion and robot-to-robot 1) distance and bearing, 2) bearing-only, and 3) distance-only measurements. We further conduct a nonlinear observability analysis and provide sufficient conditions for the 3-D relative position and orientation (pose) to become locally weakly observable. Finally, we present a nonlinear weighted least-squares estimator to refine the algebraic pose estimate in the presence of noise. We use simulations to evaluate the performance of our methods in terms of accuracy and robustness.",

keywords = "3-D extrinsic calibration, Cooperative localization",

author = "Nikolas Trawny and Zhou, {Xun S.} and Ke Zhou and Roumeliotis, {Stergios I.}",

note = "Funding Information: Manuscript received February 5, 2009; revised August 23, 2009 and February 1, 2010. Current version published April 7, 2010. This paper was recommended for publication by Associate Editor P. Rives and Editor L. Parker upon evaluation of the reviewers{\textquoteright} comments. This work was supported by the University of Minnesota (Digital Technology Center) and the National Science Foundation under Grant IIS-0643680, Grant IIS-0811946, and Grant IIS-0835637.",

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AU - Roumeliotis, Stergios I.

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AB - In this paper, we provide a study of motion-induced 3-D extrinsic calibration based on robot-to-robot sensor measurements. In particular, we introduce algebraic methods to compute the relative translation and rotation between two robots using known robot motion and robot-to-robot 1) distance and bearing, 2) bearing-only, and 3) distance-only measurements. We further conduct a nonlinear observability analysis and provide sufficient conditions for the 3-D relative position and orientation (pose) to become locally weakly observable. Finally, we present a nonlinear weighted least-squares estimator to refine the algebraic pose estimate in the presence of noise. We use simulations to evaluate the performance of our methods in terms of accuracy and robustness.

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KW - Cooperative localization

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Interrobot transformations in 3-D

Abstract

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