A Real-Time Distributed Relative Pose Estimation Algorithm for RGB-D Camera Equipped Visual Sensor Networks (with Max Wang and Ahmet Sekercioglu)

In this paper, we present a distributed, peer-to-peer algorithm for relative pose estimation in a network of mobile robots equipped with RGB-D cameras acting as a visual sensor network.  Our algorithm uses the depth information to estimate the relative pose of a robot when camera sensors mounted on different robots observe a common scene from different angles of view.

[ICDSC 2013 paper]