CREPES: Cooperative RElative Pose Estimation System
Zhiren Xun,Jian Huang,Zhehan Li,Zhenjun Ying,Yingjian Wang,Chao Xu,Fei Gao,Yanjun Cao,Zhiren Xun,Jian Huang,Zhehan Li,Zhenjun Ying,Yingjian Wang,Chao Xu,Fei Gao,Yanjun Cao
Mutual localization plays a crucial role in multi-robot cooperation. CREPES, a novel system that focuses on six degrees of freedom (DOF) relative pose estimation for multi-robot systems, is proposed in this paper. CREPES has a compact hardware design using active infrared (IR) LEDs, an IR fish-eye camera, an ultra-wideband (UWB) module and an inertial measurement unit (IMU). By leveraging IR light...
