Skip lists: a probabilistic alternative to balanced trees
Communications of the ACM
Multiple view geometry in computer vision
Multiple view geometry in computer vision
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Distributed Cooperative Outdoor Multirobot Localization and Mapping
Autonomous Robots
Cooperative, distributed localization in multi-robot systems: a minimum-entropy approach
DIS '06 Proceedings of the IEEE Workshop on Distributed Intelligent Systems: Collective Intelligence and Its Applications
Distributed maximum a posteriori estimation for multi-robot cooperative localization
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Consistent cooperative localization
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Distributed collaborative localization of multiple vehicles from relative pose measurements
Allerton'09 Proceedings of the 47th annual Allerton conference on Communication, control, and computing
Distributed vision-aided cooperative localization and navigation based on three-view geometry
AERO '11 Proceedings of the 2011 IEEE Aerospace Conference
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This paper presents a new method for distributed vision-aided cooperative localization and navigation for multiple inter-communicating autonomous vehicles based on three-view geometry constraints. Each vehicle is equipped with a standard inertial navigation system and an on-board camera only. In contrast to the traditional approach for cooperative localization, which is based on relative pose measurements, the proposed method formulates a measurement whenever the same scene is observed by different vehicles. Each such measurement is comprising of three images, which are not necessarily captured at the same time. The captured images, to which some navigation parameters are attached, are stored in repositories by some of the vehicles in the group. A graph-based approach is applied for calculating the correlation terms between the navigation parameters associated to images participating in the same measurement. The proposed method is examined using a statistical simulation and is further validated in an experiment that involved two vehicles in a holding pattern scenario. The experiments show that the cooperative three-view-based vision-aided navigation may considerably improve the performance of an inferior INS.