用近红外光实现厘米级多机器人定位，抗光照干扰且低功耗。
Infra-Swarm: Robust Vision-Based Multi-Robot Swarming via Near-Infrared Spectral Vision
- 通过近红外光强与方向测量邻居位置，实现厘米级3D定位。
- 940nm滤镜屏蔽99.2%环境光，硬件级抗光照变化。
- 计算开销极小，适合资源受限设备上大规模集群部署。
分布式集群通常依赖主动无线通信或被动视觉，但常受带宽限制或环境敏感性影响。本文提出Infra-Swarm，一种鲁棒的基于视觉的多机器人集群系统。每台机器人配备近红外光源和四台普通灰度相机。该系统通过图像中光学耀斑的位置（方位）与强度（亮度）直接测量邻近机器人的厘米级3D位置。利用940 nm窄带滤镜物理排除99.2%的环境光干扰，感知前端实现硬件级抗光照变化能力。此外，其极低的计算开销为资源受限硬件上的大规模机器人集体提供了稳健基础。
原文摘要 · Abstract (English)
Distributed swarms typically rely on either active wireless communication or passive vision, and they are frequently hindered by bandwidth constraints or environmental sensitivity. This paper proposes Infra-Swarm, a robust vision-based swarm. Each robot is equipped with a near-infrared light source and four ordinary gray-scale cameras. The Infra-Swarm system directly measures the centimeter-level 3D position of neighbors based on the position (bearing) and intensity (strength) of optical flares in the captured images. By utilizing 940 nm narrow-band filters to physically reject 99.2% of ambient light interference, the perception front-end achieves hardware-level robustness against illumination variations. Furthermore, its minimal computational overhead provides a resilient foundation for the massive scalability of robotic collectives on resource-constrained hardware.
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