{"ID":2830225,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.10540","arxiv_id":"2512.10540","title":"Mr. Virgil: Learning Multi-robot Visual-range Relative Localization","abstract":"Ultra-wideband (UWB)-vision fusion localization has achieved extensive applications in the domain of multi-agent relative localization. The challenging matching problem between robots and visual detection renders existing methods highly dependent on identity-encoded hardware or delicate tuning algorithms. Overconfident yet erroneous matches may bring about irreversible damage to the localization system. To address this issue, we introduce Mr. Virgil, an end-to-end learning multi-robot visual-range relative localization framework, consisting of a graph neural network for data association between UWB rangings and visual detections, and a differentiable pose graph optimization (PGO) back-end. The graph-based front-end supplies robust matching results, accurate initial position predictions, and credible uncertainty estimates, which are subsequently integrated into the PGO back-end to elevate the accuracy of the final pose estimation. Additionally, a decentralized system is implemented for real-world applications. Experiments spanning varying robot numbers, simulation and real-world, occlusion and non-occlusion conditions showcase the stability and exactitude under various scenes compared to conventional methods. Our code is available at: https://github.com/HiOnes/Mr-Virgil.","short_abstract":"Ultra-wideband (UWB)-vision fusion localization has achieved extensive applications in the domain of multi-agent relative localization. The challenging matching problem between robots and visual detection renders existing methods highly dependent on identity-encoded hardware or delicate tuning algorithms. Overconfident...","url_abs":"https://arxiv.org/abs/2512.10540","url_pdf":"https://arxiv.org/pdf/2512.10540v1","authors":"[\"Si Wang\",\"Zhehan Li\",\"Jiadong Lu\",\"Rong Xiong\",\"Yanjun Cao\",\"Yue Wang\"]","published":"2025-12-11T11:16:53Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[\"Graph Neural Network\"]","has_code":false,"code_links":[{"ID":606011,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_id":2830225,"paper_url":"https://arxiv.org/abs/2512.10540","paper_title":"Mr. Virgil: Learning Multi-robot Visual-range Relative Localization","repo_url":"https://github.com/HiOnes/Mr-Virgil","is_official":false,"mentioned_in_paper":false,"mentioned_in_github":true,"github_stars":0}]}