Abstract
Relative localization is an important ability for multiple robots to perform cooperative tasks in GPS-denied environments. This paper presents a novel autonomous positioning framework for monocular relative localization of multiple tiny flying robots. This approach does not require any groundtruth data from external systems or manual labeling. Instead, the proposed framework is able to label real-world images with 3D relative positions between robots based on another onboard relative estimation technology, using ultra-wideband (UWB). After training in this self-supervised manner, the proposed deep neural network (DNN) can predict relative positions of peer robots by purely using a monocular camera. This deep learning-based visual relative localization is scalable, distributed, and autonomous. We also built an open-source and lightweight simulation pipeline by using Blender for 3D rendering, which allows synthetic image generation of other robots, and generalized training of the neural network. The proposed localization framework is tested on two real-world Crazyflie2 quadrotors by running the DNN on the onboard AIdeck (a tiny AI chip and monocular camera). All results demonstrate the effectiveness of the self-supervised multi-robot localization method. Video: https://youtu.be/7arkaIblPps
Original language | English |
---|---|
Title of host publication | 2022 IEEE International Conference on Robotics and Automation, ICRA 2022 |
Editors | George J. Pappas, Vijay Kumar |
Pages | 9689-9695 |
Number of pages | 7 |
ISBN (Electronic) | 978-1-7281-9681-7 |
DOIs | |
Publication status | Published - 2022 |
Event | 2022 International Conference on Robotics and Automation (ICRA) - Philadelphia, United States Duration: 23 May 2022 → 27 May 2022 Conference number: 39 |
Publication series
Name | Proceedings - IEEE International Conference on Robotics and Automation |
---|---|
ISSN (Print) | 1050-4729 |
Conference
Conference | 2022 International Conference on Robotics and Automation (ICRA) |
---|---|
Abbreviated title | ICRA 2022 |
Country/Territory | United States |
City | Philadelphia |
Period | 23/05/22 → 27/05/22 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.