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Cooperative-Localization with Labelled Bernoulli Random Finite Set for Multi-Vehicle
- Citation Author(s):
-
HongmeiChen
He'nan University of Technology - Submitted by:
- Hongmei Chen
- Last updated:
- Fri, 08/09/2024 - 11:33
- DOI:
- 10.21227/kenk-tg31
- Data Format:
- License:
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Abstract
This is our experimental interface and environment. the algorithm's performance was evaluated using the UTIAS multi-robot CL and mapping dataset provided by Leung et al.
Each robot was equipped with a wheel encoder and a monocular camera, measuring linear and rotational velocities at 67 Hz and capturing distance and orientation measurements with other robots and landmarks. The position and orientation were obtained from a 10-camera Vicon motion capture system at 100 Hz, with a positional accuracy of approximately 1 mm.
There are two main parts in CoLo: a physical experiment (CoLo-PE) for data collection and a software analysis tool (CoLo-AT)
In CoLo-PE, it will shows the requriment hardwares and softwares needed for setting up the the physical experiments.
In CoLo-AT, users can load their localization algorithms and test their performances using different datasets on various settings.
Each parts can be used independetly for users' needs.
Documentation
| Attachment | Size |
|---|---|
 README.docx | 15.87 KB |
Comments
There are two main parts in CoLo: a physical experiment (CoLo-PE) for data collection and a software analysis tool (CoLo-AT)
In CoLo-PE, it will shows the requriment hardwares and softwares needed for setting up the the physical experiments.
In CoLo-AT, users can load their localization algorithms and test their performances using different datasets on various settings.
Each parts can be used independetly for users' needs.