Imperial College London
Alternate

ProfessorAndrewDavison

Faculty of Engineering, Department of Computing

Professor of Robot Vision
 
 
 
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Contact

 

+44 (0)20 7594 8316a.davison Website

 
 
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Assistant

 

Ms Lucy Atthis +44 (0)20 7594 8259

 
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Location

 

303William Penney LaboratorySouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@article{Murai:2024:10.1109/lra.2024.3352361,
author = {Murai, R and Alzugaray, I and Kelly, PHJ and Davison, AJ},
doi = {10.1109/lra.2024.3352361},
journal = {IEEE Robotics and Automation Letters},
pages = {2136--2143},
title = {Distributed simultaneous localisation and auto-calibration using Gaussian belief propagation},
url = {http://dx.doi.org/10.1109/lra.2024.3352361},
volume = {9},
year = {2024}
}
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RIS format (EndNote, RefMan)

TY  - JOUR
AB  - We present a novel scalable, fully distributed, and online method for simultaneous localisation and extrinsic calibration for multi-robot setups. Individual a priori unknown robot poses are probabilistically inferred as robots sense each other while simultaneously calibrating their sensors and markers extrinsic using Gaussian Belief Propagation. In the presented experiments, we show how our method not only yields accurate robot localisation and auto-calibration but also is able to perform under challenging circumstances such as highly noisy measurements, significant communication failures or limited communication range.
AU  - Murai,R
AU  - Alzugaray,I
AU  - Kelly,PHJ
AU  - Davison,AJ
DO  - 10.1109/lra.2024.3352361
EP  - 2143
PY  - 2024///
SN  - 2377-3766
SP  - 2136
TI  - Distributed simultaneous localisation and auto-calibration using Gaussian belief propagation
T2  - IEEE Robotics and Automation Letters
UR  - http://dx.doi.org/10.1109/lra.2024.3352361
UR  - http://hdl.handle.net/10044/1/109393
VL  - 9
ER  -
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