エゴイスティックMDSに基づく剛体位置推定
Egoistic MDS-based Rigid Body Localization
自律走行車両間で、相手の形状を知らずに距離測定のみから相対的な位置と姿勢を推定する手法を提案。多次元尺度構成法の二重中心化演算子を利用して形状に依存しない剛体位置推定を実現した。
著者: Niclas Führling, Giuseppe Abreu, David González G., Osvaldo Gonsa
分類: cs.RO, eess.SP
原文アブストラクト
We consider a novel anchorless rigid body localization (RBL) suitable for application in autonomous driving (AD), in so far as the algorithm enables a rigid body to egoistically detect the location (relative translation) and orientation (relative rotation) of another body, without knowledge of the shape of the latter, based only on a set of measurements of the distances between sensors of one vehicle to the other. A key point of the proposed method is that the translation vector between the two-bodies is modeled using the double-centering operator from multidimensional scaling (MDS) theory, enabling the method to be used between rigid bodies regardless of their shapes, in contrast to conventional approaches which require both bodies to have the same shape. Simulation results illustrate the good performance of the proposed technique in terms of root mean square error (RMSE) of the estimates in different setups.