Robot-to-Robot Relative Pose Estimation based on Semidefinite Relaxation Optimization
Ming Li,Guanqi Liang,Haobo Luo,Huihuan Qian,Tin Lun Lam,Ming Li,Guanqi Liang,Haobo Luo,Huihuan Qian,Tin Lun Lam
In this paper, the 2D robot-to-robot relative pose (position and orientation) estimation problem based on ego-motion and noisy distance measurements is considered. We address this problem using an optimization-based method, which does not require complicated numerical analysis while yields no inferior relative localization (RL) results compared to existing approaches. In particular, we start from ...
