LATIDIA · Robótica

Estimación de la postura relativa eficiente en la comunicación con modelos de la base de la visión para la percepción colaborativa efímera

arXiv:2607.14539v2 Anuncio Tipo: reemplazar Resumen: La estimación de la pose relativa es una capacidad fundamental para la percepción y coordinación colaborativa en sistemas multi-robot. Sin embargo, los robots que se encuentran entre sí en re

La noticia

arXiv:2607.14539v2 Announce Type: replace Abstract: Relative pose estimation is a fundamental capability for collaborative perception and coordination in multi-robot systems. However, robots encountering each other in real-world environments often operate in short interaction windows and must operate under limited communication bandwidth with intermittent or missing visual overlap caused by occlusions or limited fields of view. Existing approaches typically rely on global reference frames, assume sustained view overlap, or incur prohibitive communication costs, thereby limiting their applicability to ephemeral collaborative perception. To address these challenges, we introduce communication-efficient relative pose estimation (CERPE), a system-level framework that coordinates vision foundation models to jointly estimate ego-motion and inter-robot relative pose. CERPE reduces unnecessary