Zhu, Chen (2019) Cooperative Vision for Swarm Navigation. Dissertation, Technische Universität München.
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Abstract
The efficiency of Mars exploration can be improved by using a swarm of small independent rovers. By using cameras, a rover can estimate its egomotion and build a map of the environment simultaneously. However, the error accumulation in the tracking strongly limits the accuracy of the positioning and the mapping, except if loop closures can be established in the exploring trajectory. We solved the challenges posed by the use of monocular cameras on small rovers and the lack of loop closures by a sensor fusion method based on images and ranges to a single anchor point, e.g., the landing site. Additionally, ranges can be determined between each pair of rovers in a swarm. We proposed a relative pose and scale estimation with low communication requirement and a swarm navigation solution based on that.
Item URL in elib: | https://elib.dlr.de/133488/ | ||||||||
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Document Type: | Thesis (Dissertation) | ||||||||
Title: | Cooperative Vision for Swarm Navigation | ||||||||
Authors: |
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Date: | 2019 | ||||||||
Refereed publication: | Yes | ||||||||
Open Access: | Yes | ||||||||
Number of Pages: | 123 | ||||||||
Status: | In Press | ||||||||
Keywords: | Sensor Fusion; Cooperative Positioning; SLAM; Swarm Localization; Multi-agent Navigation; Low Communication Requirement; Relative Pose; Monocular Camera Scale; Error Mitigation; Field of View Detection; Clustering; Grouping | ||||||||
Institution: | Technische Universität München | ||||||||
Department: | Department of Electrical and Computer Engineering | ||||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||||
HGF - Program: | Space | ||||||||
HGF - Program Themes: | Communication and Navigation | ||||||||
DLR - Research area: | Raumfahrt | ||||||||
DLR - Program: | R KN - Kommunikation und Navigation | ||||||||
DLR - Research theme (Project): | R - Project Navigation 4.0 (old) | ||||||||
Location: | Oberpfaffenhofen | ||||||||
Institutes and Institutions: | Institute of Communication and Navigation | ||||||||
Deposited By: | Zhu, Chen | ||||||||
Deposited On: | 14 Jan 2020 14:10 | ||||||||
Last Modified: | 14 Jan 2020 14:10 |
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