This video shows real-robot experiments using our method solving the mutual localization of teams of ground and aerial robots with anonymous bearing (camera-like) measurements.
See  for the paper describing the method used in the following video.
- , “Ground and Aerial Mutual Localization using Anonymous Relative-Bearing Measurements”, IEEE Transaction on Robotics, vol. 32, no. 5, pp. 1133-1151, 2016.