Monocular Vision-Based Swarm Robot Localization Using Equilateral Triangular Formations

Abstract

Localization of mobile robots is crucial for deploying robots in real-world applications such as search and rescue missions. This work aims to develop an accurate localization system applicable to swarm robots equipped only with low-cost monocular vision sensors and visual markers. The system is designed to operate in fully open spaces, without landmarks or support from positioning infrastructures. To achieve this, we propose a localization method based on equilateral triangular formations. By leveraging the geometric properties of equilateral triangles, the accurate two-dimensional position of each participating robot is estimated using one-dimensional lateral distance information between robots, which can be reliably and accurately obtained with a low-cost monocular vision sensor. Experimental and simulation results demonstrate that, as travel time increases, the positioning error of the proposed method becomes significantly smaller than that of a conventional dead-reckoning system, another low-cost localization approach applicable to open environments.

References in corpus (9)

• Optimal Parameter Inflation to Enhance the Availability of Single-Frequency GBAS for Intelligent Air Transportation
• Urban Road Safety Prediction: A Satellite Navigation Perspective
• Low-Cost GNSS Simulators with Wireless Clock Synchronization for Indoor Positioning
• SFOL DME Pulse Shaping Through Digital Predistortion for High-Accuracy DME
• Practical Simplified Indoor Multiwall Path-Loss Model
• Neural Network-Based Ranging with LTE Channel Impulse Response for Localization in Indoor Environments
• Evaluation of RF Fingerprinting-Aided RSS-Based Target Localization for Emergency Response
• Machine-Learning-Based Classification of GPS Signal Reception Conditions Using a Dual-Polarized Antenna in Urban Areas
• HELPS for Emergency Location Service: Hyper-Enhanced Local Positioning System