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Probabilistic Cooperative Target Localization

Amr Nagaty, Carl Thi, Michael Trentini, Howard Li

Abstract


This work addresses the problem of localizing a ground target observed by multiple heterogeneous unmanned vehicles. Effective collaboration between unmanned aerial and ground vehicles can utilize the strengths of both platforms while mediating their individual weaknesses. A probabilistic framework is proposed to improve target localization accuracy by utilizing the epipolar geometry and inter-robot localization measurements. The proposed
algorithms were tested in simulations and hardware experiments.

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References


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DOI: http://dx.doi.org/10.21535%2FProICIUS.2014.v10.262

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