Vision-Based Coordinated Localization for Mobile Sensor Networks

Junghun Suh, Seungil You, Sungjoon Choi, Songhwai Oh

Research output: Contribution to journalArticlepeer-review

30 Citations (Scopus)


In this paper, we propose a coordinated localization algorithm for mobile sensor networks with camera sensors to operate under Global Positioning System (GPS) denied areas or indoor environments. Mobile robots are partitioned into two groups. One group moves within the field of views of remaining stationary robots. The moving robots are tracked by stationary robots and their trajectories are used as spatiotemporal features. From these spatiotemporal features, relative poses of robots are computed using multiview geometry and a group of robots is localized with respect to the reference coordinate based on the proposed multirobot localization. Once poses of all robots are recovered, a group of robots moves from one location to another while maintaining the formation of robots for coordinated localization under the proposed multirobot navigation strategy. By taking the advantage of a multiagent system, we can reliably localize robots over time as they perform a group task. In experiment, we demonstrate that the proposed method consistently achieves a localization error rate of 0.37% or less for trajectories of length between 715cm and 890cm using an inexpensive off-the-shelf robotic platform.

Original languageEnglish
Article number6954555
Pages (from-to)611-620
Number of pages10
JournalIEEE Transactions on Automation Science and Engineering
Issue number2
Publication statusPublished - 2016 Apr
Externally publishedYes


  • Localization
  • mobile sensor network
  • multirobot coordination

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


Dive into the research topics of 'Vision-Based Coordinated Localization for Mobile Sensor Networks'. Together they form a unique fingerprint.

Cite this