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CREPES-X

product1 mentionslast seen Sep 16, 2026

A hierarchical relative localization framework that fuses inter-robot bearings, distances, and inertial measurements, packaged in hardware with infrared LEDs, IR camera, ultra-wideband module, and IMU.

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CREPES-X

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CREPES-Ximplementsbearing-distance-inertial fusion

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preprintarXivSep 14, 2026CREPES-X: Hierarchical Bearing-Distance-Inertial Direct Cooperative Relative Pose Estimation System
CREPES-X (Cooperative RElative Pose Estimation System with multiple eXtended features), a hierarchical relative localization framework that enhances speed, accuracy, and robustness under challenging conditions, without requiring any global information. The hardware packs infrared (IR) LEDs, an IR camera, an ultra-wideband module, and an IMU into a cube. On this hardware, a two-stage hierarchical estimator meets different latency, accuracy, and robustness requirements.