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Vision-Based Coordinated Localization for Mobile Sensor Networks

Suh, Junghun and You, Seungil and Choi, Sungjoon and Oh, Songhwai (2016) Vision-Based Coordinated Localization for Mobile Sensor Networks. IEEE Transactions on Automation Science and Engineering, 13 (2). pp. 611-620. ISSN 1545-5955.

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In this paper, we propose a coordinated localization algorithm for mobile sensor networks with camera sensors to operate under Global Positioning System (GPS) denied areas or indoor environments. Mobile robots are partitioned into two groups. One group moves within the field of views of remaining stationary robots. The moving robots are tracked by stationary robots and their trajectories are used as spatiotemporal features. From these spatiotemporal features, relative poses of robots are computed using multiview geometry and a group of robots is localized with respect to the reference coordinate based on the proposed multirobot localization. Once poses of all robots are recovered, a group of robots moves from one location to another while maintaining the formation of robots for coordinated localization under the proposed multirobot navigation strategy. By taking the advantage of a multiagent system, we can reliably localize robots over time as they perform a group task. In experiment, we demonstrate that the proposed method consistently achieves a localization error rate of 0.37% or less for trajectories of length between 715 cm and 890 cm using an inexpensive off-the-shelf robotic platform.

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Additional Information:© 2016 IEEE. Manuscript received July 28, 2014; accepted August 30, 2014. Date of publication November 12, 2014; date of current version April 05, 2016. This paper was recommended for publication by Associate Editor W. Shen and Editor S. Sarma upon evaluation of the reviewers' comments. This work was supported in part by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education under Grant NRF-2013R1A1A2009348, and in part by the ICT R&D Program of MSIP/IITP (Resilient Cyber-Physical Systems Research, Grant 14-824-09-013). This paper was presented at the IEEE International Conference on Automation Science and Engineering, Seoul, Korea, August 2012.
Funding AgencyGrant Number
National Research Foundation of KoreaNRF-2013R1A1A2009348
Ministry of Education (Korea)UNSPECIFIED
Ministry of Science, ICT and Future Planning (Korea)14-824-09-013
Subject Keywords:Localization, mobile sensor network, multirobot coordination
Issue or Number:2
Record Number:CaltechAUTHORS:20160602-143028178
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Official Citation:J. Suh, S. You, S. Choi and S. Oh, "Vision-Based Coordinated Localization for Mobile Sensor Networks," in IEEE Transactions on Automation Science and Engineering, vol. 13, no. 2, pp. 611-620, April 2016. doi: 10.1109/TASE.2014.2362933
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:67585
Deposited By: George Porter
Deposited On:02 Jun 2016 22:22
Last Modified:03 Oct 2019 10:07

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