SE(2)におけるマルチロボット相対姿勢推定の可観測性解析：拡張カルマンフィルタとロバストポーズグラフ最適化の比較
Multi-Robot Relative Pose Estimation in SE(2) with Observability Analysis: A Comparison of Extended Kalman Filtering and Robust Pose Graph Optimization
複数ロボットの協調自己位置推定において、相対姿勢推定の可観測性条件を解析し、EKFとロバストPGOの精度をシミュレーションと実機実験で比較した。
著者: Kihoon Shin, Hyunjae Sim, Seungwon Nam, Yonghee Kim, Jae Hu, Kwang-Ki K. Kim
分類: cs.RO, cs.CV, cs.SY, eess.SY, math.OC
原文アブストラクト
In this study, we address multi-robot localization issues, with a specific focus on cooperative localization and observability analysis of relative pose estimation. Cooperative localization involves enhancing each robot's information through a communication network and message passing. If odometry data from a target robot can be transmitted to the ego robot, observability of their relative pose estimation can be achieved through range-only or bearing-only measurements, provided both robots have non-zero linear velocities. In cases where odometry data from a target robot are not directly transmitted but estimated by the ego robot, both range and bearing measurements are necessary to ensure observability of relative pose estimation. For ROS/Gazebo simulations, we explore four sensing and communication structures. We compare extended Kalman filtering (EKF) and pose graph optimization (PGO) estimation using different robust loss functions (filtering and smoothing with varying batch sizes of sliding windows) in terms of estimation accuracy. In hardware experiments, two Turtlebot3 equipped with UWB modules are used for real-world inter-robot relative pose estimation, applying both EKF and PGO and comparing their performance.
