Determining the robot-to-robot 3D relative pose using combinations of range and bearing measurements (Part II)

@article{Zhou2011DeterminingTR,
  title={Determining the robot-to-robot 3D relative pose using combinations of range and bearing measurements (Part II)},
  author={Xun S. Zhou and Stergios I. Roumeliotis},
  journal={2011 IEEE International Conference on Robotics and Automation},
  year={2011},
  pages={4736-4743}
}
In this paper, we address the problem of motion-induced 3D robot-to-robot extrinsic calibration based on different combinations of inter-robot measurements (i.e., distance and/or bearing observations) and ego-motion estimates, recorded across multiple time steps. In particular, we focus on solving minimal problems where the unknown 6-degree-of-freedom transformation between two robots is determined based on the minimum number of measurements necessary for finding a discrete set of solutions. In… CONTINUE READING

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