オドメトリとUWB測距の融合による相対変換の高速推定
Fast Estimation of Relative Transformation Based on Fusion of Odometry and UWB Ranging Data
オドメトリとUWB測距データを統合し、ロボット間の4自由度相対変換を最大尤度推定で高速に求める手法を提案した論文。
著者: Yuan Fu, Zheng Zhang, Guangyang Zeng, Chun Liu, Junfeng Wu, Xiaoqiang Ren
分類: cs.RO, math.OC
原文アブストラクト
In this paper, we investigate the problem of estimating the 4-DOF (three-dimensional position and orientation) robot-robot relative frame transformation using odometers and distance measurements between robots. Firstly, we apply a two-step estimation method based on maximum likelihood estimation. Specifically, a good initial value is obtained through unconstrained least squares and projection, followed by a more accurate estimate achieved through one-step Gauss-Newton iteration. Additionally, the optimal installation positions of Ultra-Wideband (UWB) are provided, and the minimum operating time under different quantities of UWB devices is determined. Simulation demonstrates that the two-step approach offers faster computation with guaranteed accuracy while effectively addressing the relative transformation estimation problem within limited space constraints. Furthermore, this method can be applied to real-time relative transformation estimation when a specific number of UWB devices are installed.
