利用环境反射光实现无人机编队视觉相对定位，无需预设标记或尺寸信息。
Reflection-Based Relative Localization for Cooperative UAV Teams Using Active Markers
- 通过主动标记的环境反射进行定位，无需预先知道无人机尺寸或标记布局。
- 在室内外多种光照条件下稳定运行，有效距离超30米，精度优于现有方法。
- 适用于水面等动态表面，适合海洋部署的异构无人机编队使用。
环境中的主动标记反射是机载视觉相对定位中常见的歧义来源。本文提出一种新方法，将这些通常被视为干扰的反射用于异构多无人机团队的机载相对定位。该方法无需预先知道机器人尺寸或预设标记配置，不依赖表面属性，并明确考虑由表面不规则性（包括适用于海洋部署的动态水表面）引起的不确定性。我们在室内和室外实验中验证了该方法，证明其在不同光照条件下均能可靠运行，有效距离超过30米，精度高于当前最优方法。视频演示见：https://youtu.be/y0zp8cIwkig。
原文摘要 · Abstract (English)
Reflections of active markers in the environment are a common source of ambiguity in onboard visual relative localization. This work presents a novel approach that exploits these typically unwanted reflections for onboard relative localization in heterogeneous multi-UAV teams. The method operates without prior knowledge of robot size or predefined marker configurations, remains independent of surface properties, and explicitly accounts for uncertainties caused by surface irregularities, including dynamic water surfaces relevant for marine deployments. We validated the approach in both indoor and outdoor experiments, demonstrating reliable operation across varying lighting conditions and achieving greater effective range (above 30 m) and accuracy than state-of-the-art methods. The video is available under the following link: https://youtu.be/y0zp8cIwkig.
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