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A Temporal Perspective n-Point Problem with Model Uncertainties for Cooperative Pose Estimation in a Heterogeneous Robot Team

Steidle, Florian and Boche, Simon and Stürzl, Wolfgang and Triebel, Rudolph (2023) A Temporal Perspective n-Point Problem with Model Uncertainties for Cooperative Pose Estimation in a Heterogeneous Robot Team. In: 11th European Conference on Mobile Robots, ECMR 2023. European Conference on Mobile Robots 2023, 04-07 Sep 2023, Coimbra, Portugal. ISBN 979-835030704-7. ISSN 2639-7919.

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Official URL: https://easychair.org/smart-program/ECMR2023/2023-09-05.html


Many solutions exist for estimating the pose of an object with respect to a camera, where perfect knowledge of the object is assumed. In this work we lift the assumption of a perfectly known model and introduce uncertainties for the 3d points, which are retrieved from a dynamically created model. The positions of model points can either be uncorrelated or correlated. The latter is typically the case for mobile robots navigating based on results of visual-inertial pose estimation in unknown and GNSS-denied environments. In our approach, a selection of poses estimated by one robot is used as a dynamical 3d model and combined with 2d points from tracking the robot over time with the camera of another robot. In addition, selection criteria for adding and deleting 3d model points in an optimal way are proposed. Weighted residuals in the tangent space are used in a generalized least-squares problem to calculate the transformation between the tracking camera and an object. Measurement errors are projected into tangential planes of the unit sphere. The proposed method allows to estimate the relative pose of members of a robotic team with high accuracy. The benefits of our approach are shown in simulation and also during real- world experiments using visual odometry measurements from a multicopter that is tracked by the camera of a rover.

Item URL in elib:https://elib.dlr.de/197463/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:A Temporal Perspective n-Point Problem with Model Uncertainties for Cooperative Pose Estimation in a Heterogeneous Robot Team
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Steidle, FlorianUNSPECIFIEDhttps://orcid.org/0000-0001-6935-9810UNSPECIFIED
Boche, SimonInstitute of Robotics and Mechatronics, DLRUNSPECIFIEDUNSPECIFIED
Stürzl, WolfgangUNSPECIFIEDhttps://orcid.org/0000-0003-2440-5857UNSPECIFIED
Triebel, RudolphUNSPECIFIEDhttps://orcid.org/0000-0002-7975-036XUNSPECIFIED
Date:September 2023
Journal or Publication Title:11th European Conference on Mobile Robots, ECMR 2023
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:Cooperative Pose Estimation, Perspective n-Point Problem
Event Title:European Conference on Mobile Robots 2023
Event Location:Coimbra, Portugal
Event Type:international Conference
Event Dates:04-07 Sep 2023
Organizer:Institute of Systems and Robotics – University of Coimbra, Portugal
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Planetary Exploration, R - Field Robotics Teams
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Steidle, Florian
Deposited On:22 Sep 2023 09:10
Last Modified:14 Nov 2023 09:49

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