CREPES2: A Dynamic Position and Pose Estimation System

Relative positioning technology plays a crucial role in multi robot systems. In this paper, we improve our previously proposed CREPES system in terms of device integration and algorithms to obtain the CREPES2 system for dynamic position and pose estimation. Benefit by optical communication consisting of high frame rate cameras and infrared LEDs, we can combine all information from sensors, such as camera, inertial measurement unit(IMU), ultrawideband (UWB) by their unique ID. Process these information and paired with the algorithm we designed for it, we can acquire relative position and pose estimation from every single frame of sensor fusion. In addition, we propose a close range algorithm based on computer vision (CV) to solve the problem that uwb ranging can't work well when two devices get too close to make the whole system performs well in all range. What's more, we conduct various experiments to show that our system works accurately and stably whether in close range or long distance.