  Mutual localization plays a crucial role in multi-robot cooperation. CREPES,
a novel system that focuses on six degrees of freedom (DOF) relative pose
estimation for multi-robot systems, is proposed in this paper. CREPES has a
compact hardware design using active infrared (IR) LEDs, an IR fish-eye camera,
an ultra-wideband (UWB) module and an inertial measurement unit (IMU). By
leveraging IR light communication, the system solves data association between
visual detection and UWB ranging. Ranging measurements from the UWB and
directional information from the camera offer relative 3-DOF position
estimation. Combining the mutual relative position with neighbors and the
gravity constraints provided by IMUs, we can estimate the 6-DOF relative pose
from a single frame of sensor measurements. In addition, we design an estimator
based on the error-state Kalman filter (ESKF) to enhance system accuracy and
robustness. When multiple neighbors are available, a Pose Graph Optimization
(PGO) algorithm is applied to further improve system accuracy. We conduct
enormous experiments to demonstrate CREPES' accuracy between robot pairs and a
team of robots, as well as performance under challenging conditions.
