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Mutual localization is a library to estimate 3D relative pose (position and orientation) between two robots that can see each other by using fiducial markers.

The library also provides enough data and code to reproduce the experiments in the paper. Please refer to the documentation and the paper for more details.

Acknowledgments

This material is based upon work partially supported by the Federal Highway Administration under Cooperative Agree- ment No. DTFH61-07-H-00023, the Army Research Office (W911NF-11-1-0090) and the National Science Foundation CAREER grant (IIS-0845282). Any opinions, findings, con- clusions or recommendations are those of the authors and do not necessarily reflect the views of the FHWA, ARO, or NSF.

Citation

@inproceedings{dhiman2013mutual,
  title = {Mutual Localization: Two Camera Relative 6-DOF Pose Estimation
        from Reciprocal Fiducial Observation},
  author = {V. Dhiman and J. Ryde and J. J. Corso},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2013},
  month = {November},
  address = {Tokyo, Japan},
  urllink = {http://www.cse.buffalo.edu/~jryde/publications/iros2013_mutual_localization.pdf}
}