Radio-to-Pose Information for Gauge-Drift Correction in Cooperative Localization
Overview
This research introduces Radio-to-Pose Information (RPI), an interface that converts radio power residuals into Gaussian information matrices to correct gauge drift in cooperative localization.
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Event evidence and corrections
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Environment: simulation
“oses and minimize uncertainty. We characterize the shared motions detectable from the map and observed links. For an uncertain shared map, RPI keeps correlations across robots and time and reproduces joint Gaussian pose estimates and covariances. Across $1000$ simulated Gaussian trials, RPI matches the results of joint estimation. Across 32 paired trials with a registered map, RPI reduces common-position RMSE from $0”
Exact source · revision 1Source owner not reported
Reported quantity · trajectories: 1000 other · trajectory count
“oses and minimize uncertainty. We characterize the shared motions detectable from the map and observed links. For an uncertain shared map, RPI keeps correlations across robots and time and reproduces joint Gaussian pose estimates and covariances. Across $1000$ simulated Gaussian trials, RPI matches the results of joint estimation. Across 32 paired trials with a registered map, RPI reduces common-position RMSE from $0”
Exact source · revision 1Source owner not reported
Reported quantity · robots: 32 other · reported trials
“oses and minimize uncertainty. We characterize the shared motions detectable from the map and observed links. For an uncertain shared map, RPI keeps correlations across robots and time and reproduces joint Gaussian pose estimates and covariances. Across $1000$ simulated Gaussian trials, RPI matches the results of joint estimation. Across 32 paired trials with a registered map, RPI reduces common-position RMSE from $0”
Exact source · revision 1Source owner not reported
Reported quantity · arena_dimension: 50 other · Basis not reported
“.542$m to $0.140$m in a $50\times50$m arena compared with a baseline that uses radio only to weight relative measurements.”
Exact source · revision 1Source owner not reported
Report timeline
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- arXiv Robotics — research abstractsSignalRadio-to-Pose Information for Gauge-Drift Correction in Cooperative Localization
This research introduces Radio-to-Pose Information (RPI), an interface that converts radio power residuals into Gaussian information matrices to correct gauge drift in cooperative localization.
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