Unique 4-DOF Relative Pose Estimation with Six Distances for UWB/V-SLAM-Based Devices

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...

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Hlavní autoři: Francisco Molina Martel, Juri Sidorenko, Christoph Bodensteiner, Michael Arens, Urs Hugentobler
Médium: Článek
Jazyk:English
Vydáno: MDPI AG 2019-10-01
Edice:Sensors
Témata:
sensor fusion
relative pose estimation
relative localization
ultra-wideband (uwb)
augmented reality (ar)
c-slam
On-line přístup:https://www.mdpi.com/1424-8220/19/20/4366

Internet

https://www.mdpi.com/1424-8220/19/20/4366

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