Measurement relative position of multiple mobile robots from range images and intensity images in distributed sensing

摘要

In distributed sensing by multiple mobile robots, measurement of each robot's relative position is important. This paper proposes a method of multiple mobile robots' relative positioning by using fused images, which are measured from multiple viewpoints. Each robot is assumed to have either a range image sensor or an intensity image sensor. The method to measure a robot's position is formulated by using the least square method.