A Monocular Pose Estimation System based on Infrared LEDs

Title: A Monocular Pose Estimation System based on Infrared LEDs. IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014.

Authors/ Researchers: Matthias Faessler, Elias Mueggler, Karl Schwabe and Davide Scaramuzza

Laboratory: Robotics and Perception Group

University: University of Zurich

Abstract: To be able to conduct multi-robot missions, mutual localization is a fundamental component. The monocular pose estimation system allows accurate, efficient and robust estimation of the relative position of two robots. The system consists of multiple infrared LEDs and a camera with an infrared-pass filter. The LEDs are mounted to the robot that shall be tracked, in this case, the quadrotor. The observing robot, the youBot on the ground, is equipped with the camera.

Software: Link to the code on GitHub

Video: A Monocular Pose Estimation System based on Infrared LEDs

Papers/Publications: A Monocular Pose Estimation System based on Infrared LEDs. IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014.