This paper presents the design and implementation of a relative localization system for SnailBot, a modular self reconfigurable robot. The system integrates ArUco marker recognition, optical flow analysis, and IMU data processing into a unified fusion framework, enabling robust and accurate relative positioning for collaborative robotic tasks. Experimental validation demonstrates the effectiveness of the system in realtime operation, with a rule based fusion strategy ensuring reliability across dynamic scenarios. The results highlight the potential for scalable deployment in modular robotic systems.

翻译：本文介绍了SnailBot（一种模块化自重构机器人）相对定位系统的设计与实现。该系统将ArUco标记识别、光流分析与IMU数据处理集成到统一的融合框架中，为协作机器人任务提供鲁棒且精确的相对定位能力。实验验证表明该系统在实时运行中具有显著效能，基于规则的融合策略确保了动态场景下的可靠性。研究结果凸显了该系统在模块化机器人系统中可扩展部署的潜力。