Unique 4-DOF Relative Pose Estimation with Six Distances for UWB/V-SLAM-Based Devices
In this work we introduce a relative localization method that estimates the coordinate frame transformation between two devices based on distance measurements. We present a linear algorithm that calculates the relative pose in 2D or 3D with four degrees of freedom (4-DOF). This algorithm needs a min...
| Main Authors: | , , , , |
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MDPI AG
2019-10-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/19/20/4366 |
| _version_ | 1817993791740575744 |
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| author | Francisco Molina Martel Juri Sidorenko Christoph Bodensteiner Michael Arens Urs Hugentobler |
| author_facet | Francisco Molina Martel Juri Sidorenko Christoph Bodensteiner Michael Arens Urs Hugentobler |
| author_sort | Francisco Molina Martel |
| collection | DOAJ |
| description | In this work we introduce a relative localization method that estimates the coordinate frame transformation between two devices based on distance measurements. We present a linear algorithm that calculates the relative pose in 2D or 3D with four degrees of freedom (4-DOF). This algorithm needs a minimum of five or six distance measurements, respectively, to estimate the relative pose uniquely. We use the linear algorithm in conjunction with outlier detection algorithms and as a good initial estimate for iterative least squares refinement. The proposed method outperforms other related linear methods in terms of distance measurements needed and in terms of accuracy. In comparison with a related linear algorithm in 2D, we can reduce 10% of the translation error. In contrast to the more general 6-DOF linear algorithm, our 4-DOF method reduces the minimum distances needed from ten to six and the rotation error by a factor of four at the standard deviation of our ultra-wideband (UWB) transponders. When using the same amount of measurements the orientation error and translation error are approximately reduced to a factor of ten. We validate our method with simulations and an experimental setup, where we integrate ultra-wideband (UWB) technology into simultaneous localization and mapping (SLAM)-based devices. The presented relative pose estimation method is intended for use in augmented reality applications for cooperative localization with head-mounted displays. We foresee practical use cases of this method in cooperative SLAM, where map merging is performed in the most proactive manner. |
| first_indexed | 2024-04-14T01:44:29Z |
| format | Article |
| id | doaj.art-e6b6e0b71e374600ac2d0365e3ff9da9 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-14T01:44:29Z |
| publishDate | 2019-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-e6b6e0b71e374600ac2d0365e3ff9da92022-12-22T02:19:37ZengMDPI AGSensors1424-82202019-10-011920436610.3390/s19204366s19204366Unique 4-DOF Relative Pose Estimation with Six Distances for UWB/V-SLAM-Based DevicesFrancisco Molina Martel0Juri Sidorenko1Christoph Bodensteiner2Michael Arens3Urs Hugentobler4Fraunhofer Institute of Optronics, System Technologies and Image Exploitation IOSB, Gutleuthausstraße 1, 76275 Ettlingen, GermanyFraunhofer Institute of Optronics, System Technologies and Image Exploitation IOSB, Gutleuthausstraße 1, 76275 Ettlingen, GermanyFraunhofer Institute of Optronics, System Technologies and Image Exploitation IOSB, Gutleuthausstraße 1, 76275 Ettlingen, GermanyFraunhofer Institute of Optronics, System Technologies and Image Exploitation IOSB, Gutleuthausstraße 1, 76275 Ettlingen, GermanyInstitute of Astronomical and Physical Geodesy, Technical University of Munich, Arcisstrasse 21, 80333 Munich, GermanyIn this work we introduce a relative localization method that estimates the coordinate frame transformation between two devices based on distance measurements. We present a linear algorithm that calculates the relative pose in 2D or 3D with four degrees of freedom (4-DOF). This algorithm needs a minimum of five or six distance measurements, respectively, to estimate the relative pose uniquely. We use the linear algorithm in conjunction with outlier detection algorithms and as a good initial estimate for iterative least squares refinement. The proposed method outperforms other related linear methods in terms of distance measurements needed and in terms of accuracy. In comparison with a related linear algorithm in 2D, we can reduce 10% of the translation error. In contrast to the more general 6-DOF linear algorithm, our 4-DOF method reduces the minimum distances needed from ten to six and the rotation error by a factor of four at the standard deviation of our ultra-wideband (UWB) transponders. When using the same amount of measurements the orientation error and translation error are approximately reduced to a factor of ten. We validate our method with simulations and an experimental setup, where we integrate ultra-wideband (UWB) technology into simultaneous localization and mapping (SLAM)-based devices. The presented relative pose estimation method is intended for use in augmented reality applications for cooperative localization with head-mounted displays. We foresee practical use cases of this method in cooperative SLAM, where map merging is performed in the most proactive manner.https://www.mdpi.com/1424-8220/19/20/4366sensor fusionrelative pose estimationrelative localizationultra-wideband (uwb)augmented reality (ar)c-slam |
| spellingShingle | Francisco Molina Martel Juri Sidorenko Christoph Bodensteiner Michael Arens Urs Hugentobler Unique 4-DOF Relative Pose Estimation with Six Distances for UWB/V-SLAM-Based Devices Sensors sensor fusion relative pose estimation relative localization ultra-wideband (uwb) augmented reality (ar) c-slam |
| title | Unique 4-DOF Relative Pose Estimation with Six Distances for UWB/V-SLAM-Based Devices |
| title_full | Unique 4-DOF Relative Pose Estimation with Six Distances for UWB/V-SLAM-Based Devices |
| title_fullStr | Unique 4-DOF Relative Pose Estimation with Six Distances for UWB/V-SLAM-Based Devices |
| title_full_unstemmed | Unique 4-DOF Relative Pose Estimation with Six Distances for UWB/V-SLAM-Based Devices |
| title_short | Unique 4-DOF Relative Pose Estimation with Six Distances for UWB/V-SLAM-Based Devices |
| title_sort | unique 4 dof relative pose estimation with six distances for uwb v slam based devices |
| topic | sensor fusion relative pose estimation relative localization ultra-wideband (uwb) augmented reality (ar) c-slam |
| url | https://www.mdpi.com/1424-8220/19/20/4366 |
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