Distributed Visual-Inertial Cooperative Localization
Pengxiang Zhu,Patrick Geneva,Wei Ren,Guoquan Huang,Pengxiang Zhu,Patrick Geneva,Wei Ren,Guoquan Huang
In this paper we present a consistent and distributed state estimator for multi-robot cooperative localization (CL) which efficiently fuses environmental features and loop-closure constraints across time and robots. In particular, we leverage covariance intersection (CI) to allow each robot to only estimate its own state and autocovariance and compensate for the unknown correlations between robots...
