Robust and Convergent Distributed Cooperative Localization with Labelled Bernoulli Random Finite Set

This is our experimental interface and environment. the algorithm's performance was evaluated using the UTIAS multi-robot CL and mapping dataset provided by Leung et al.Each robot was equipped with a wheel encoder and a monocular camera, measuring linear and rotational velocities at 67 Hz and capturing distance and orientation measurements with other robots and landmarks. The position and orientation were obtained from a 10-camera Vicon motion capture system at 100 Hz, with a positional accuracy of approximately 1 mm. 

本实验所用的界面与实验环境如下。本研究采用Leung等人发布的UTIAS多机器人协同定位与建图数据集（UTIAS multi-robot CL and mapping dataset）对所提算法的性能进行评估。每台机器人均搭载轮式编码器（wheel encoder）与单目相机（monocular camera）：轮式编码器以67赫兹的频率采集线速度与角速度数据，单目相机则用于捕获与其他机器人及环境地标间的距离与方位测量值。机器人的位姿信息通过由10台相机组成的Vicon动作捕捉系统（Vicon motion capture system）以100赫兹的频率获取，其位置精度约为1毫米。