Vision-based Multi-MAV Localization with Anonymous Relative Measurements Using Coupled Probabilistic Data Association Filter
Ty Nguyen,Kartik Mohta,Camillo J. Taylor,Vijay Kumar,Ty Nguyen,Kartik Mohta,Camillo J. Taylor,Vijay Kumar
We address the localization of robots in a multi-MAV system where external infrastructure like GPS or motion capture systems may not be available. Our approach lends itself to implementation on platforms with several constraints on size, weight, and power (SWaP). Particularly, our framework fuses the onboard VIO with the anonymous, visual-based robot-to-robot detection to estimate all robot poses ...
