Paper Info
Title
Collaborative localization of aerial and ground robots through elevation maps
Abstract
Collaboration between aerial and ground robots can benefit from exploiting the complementary capabilities of each system, thereby improving situational awareness and environment interaction. For this purpose, we present a localization method that allows the ground robot to determine and track its position within a map acquired by a flying robot. To maintain invariance with respect to differing sensor choices and viewpoints, the method utilizes elevation maps built independently by each robot's onboard sensors. The elevation maps are then used for global localization: specifically, we find the relative position and orientation of the ground robot using the aerial map as a reference. Our work compares four different similarity measures for computing the congruence of elevation maps (akin to dense, image-based template matching) and evaluates their merit. Furthermore, a particle filter is implemented for each similarity measure to track multiple location hypotheses and to use the robot motion to converge to a unique solution. This allows the ground robot to make use of the extended coverage of the map from the flying robot. The presented method is demonstrated through the collaboration of a quadrotor equipped with a downward-facing monocular camera and a walking robot equipped with a rotating laser range scanner.
Year
DOI
Venue
2016
10.1109/SSRR.2016.7784317
2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
Keywords
Field
DocType
collaborative localization,elevation maps,ground robots,aerial robots,situational awareness,environment interaction,particle filter,flying robot,walking robot,downward-facing monocular camera
Template matching,Computer vision,Similarity measure,Computer science,Simulation,Situation awareness,Particle filter,Extended coverage,Scanner,Artificial intelligence,Elevation,Robot
Conference
ISBN
Citations 
PageRank 
978-1-5090-4350-7
1
0.37
References 
Authors
11
9
Name
Order
Citations
PageRank
Roman Kaslin110.71
Peter Fankhauser217114.88
Elena Stumm3444.81
Zachary J. Taylor4174.60
Elias Mueggler523114.75
Jeffrey A. Delmerico6838.13
Davide Scaramuzza72704154.51
Roland Siegwart87640551.49
Marco Hutter946058.00