Relative collaborative localization using pyroelectric sensors

摘要

The Research Oriented Sensing Inexpensive (ROSI) robot is a new, highly capable mobile sensor node designed to enable collaborative applications. Not only capable of two-way communication, ROSI robots also possess a full suite of traditional small scale sensors which can be augmented with visual information from a digital camera via a semi-dedicated onboard processor. This is accomplished in the same form factor of the original Scouts using commodity components for a low cost. This work details an approach to localizing robots with respect to each other using a collaborative sensing mechanism. Determination of relative angles, overlapping field of view and direction are explored.