On the global optimum of planar, range-based robot-to-robot relative pose estimation

Nikolas Trawny, Stergios Roumeliotis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Scopus citations

Abstract

In this paper, we address the problem of determining the relative position and orientation (pose) of two robots navigating in 2D, based on known egomotion and noisy robot-to-robot distance measurements. We formulate this as a weighted Least Squares (WLS) estimation problem, and determine the exact global optimum by directly solving the multivariate polynomial system resulting from the first-order optimality conditions. Given the poor scalability of the original WLS problem, we propose an alternative formulation of the WLS problem in terms of squared distance measurements (squared distancesWLS or SD-WLS). Using a hybrid algebraic-numeric technique, we are able to solve the corresponding first-order optimality conditions of the SD-WLS in 125 ms in Matlab. Both methods solve the minimal (3 distance measurements) as well as the overdetermined problem (more than 3 measurements) in a unified fashion. Simulation and experimental results show that the SD-WLS achieves performance virtually indistinguishable from the maximum likelihood estimator, and significantly outperforms current algebraic methods.

Original languageEnglish (US)
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages3200-3206
Number of pages7
DOIs
StatePublished - Aug 26 2010
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: May 3 2010May 7 2010

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period5/3/105/7/10

Fingerprint Dive into the research topics of 'On the global optimum of planar, range-based robot-to-robot relative pose estimation'. Together they form a unique fingerprint.

  • Cite this

    Trawny, N., & Roumeliotis, S. (2010). On the global optimum of planar, range-based robot-to-robot relative pose estimation. In 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 (pp. 3200-3206). [5509541] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2010.5509541