Vision-based Localization of Leader-Follower Formations

  title={Vision-based Localization of Leader-Follower Formations},
  author={G. L. Mariottini and G. Pappas and Domenico Prattichizzo and Kostas Daniilidis},
  journal={Proceedings of the 44th IEEE Conference on Decision and Control},
This paper focuses on the localization problem for a mobile camera network. In particular, we consider the case of leader-follower formations of nonholonomic mobile vehicles equipped with vision sensors which provide only the bearing to the other robots. We prove a sufficient condition for observability and show that recursive estimation enables a leader-follower formation if the leader is not trapped in an unobservable configuration. We employ an Extended Kalman Filter for the estimation of… CONTINUE READING
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