# MOMA: Visual Mobile Marker Odometry

## TL;DR

This paper introduces a cooperative visual odometry method using mobile markers for multi-robot navigation, with a focus on UAV-UGV systems, offering continuous movement and real-world validation.

## Contribution

It proposes a novel optimization scheme for visual mobile marker odometry and analyzes error characteristics compared to traditional methods.

## Key findings

- Effective mobile marker detection for cooperative positioning
- Continuous UAV movement without stops demonstrated
- Real-world UAV-UGV system validation achieved

## Abstract

In this paper, we present a cooperative odometry scheme based on the detection of mobile markers in line with the idea of cooperative positioning for multiple robots [1]. To this end, we introduce a simple optimization scheme that realizes visual mobile marker odometry via accurate fixed marker-based camera positioning and analyse the characteristics of errors inherent to the method compared to classical fixed marker-based navigation and visual odometry. In addition, we provide a specific UAV-UGV configuration that allows for continuous movements of the UAV without doing stops and a minimal caterpillar-like configuration that works with one UGV alone. Finally, we present a real-world implementation and evaluation for the proposed UAV-UGV configuration.