{"ID":2890414,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2507.19100","arxiv_id":"2507.19100","title":"Monocular Vision-Based Swarm Robot Localization Using Equilateral Triangular Formations","abstract":"Localization of mobile robots is crucial for deploying robots in real-world applications such as search and rescue missions. This work aims to develop an accurate localization system applicable to swarm robots equipped only with low-cost monocular vision sensors and visual markers. The system is designed to operate in fully open spaces, without landmarks or support from positioning infrastructures. To achieve this, we propose a localization method based on equilateral triangular formations. By leveraging the geometric properties of equilateral triangles, the accurate two-dimensional position of each participating robot is estimated using one-dimensional lateral distance information between robots, which can be reliably and accurately obtained with a low-cost monocular vision sensor. Experimental and simulation results demonstrate that, as travel time increases, the positioning error of the proposed method becomes significantly smaller than that of a conventional dead-reckoning system, another low-cost localization approach applicable to open environments.","short_abstract":"Localization of mobile robots is crucial for deploying robots in real-world applications such as search and rescue missions. This work aims to develop an accurate localization system applicable to swarm robots equipped only with low-cost monocular vision sensors and visual markers. The system is designed to operate in...","url_abs":"https://arxiv.org/abs/2507.19100","url_pdf":"https://arxiv.org/pdf/2507.19100v1","authors":"[\"Taewon Kang\",\"Ji-Wook Kwon\",\"Il Bae\",\"Jin Hyo Kim\"]","published":"2025-07-25T09:31:22Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"eess.SY\"]","methods":"[]","has_code":false}