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A robust set-valued state estimation approach to the problem of vision based SLAM for mobile robots Pathirana, Pubudu, Bishop, Adrian N., Savkin, Andrey V., Ekanayake, Samitha W. and Bauer, Nicholas J. 2009, A robust set-valued state estimation approach to the problem of vision based SLAM for mobile robots, in ECC 2009: Proceedings of the European Control Conference 2009, European Union Control Association, [Paris, France], pp. 2798-2803. Attached Files Name Description MIMEType Size Downloads Title A robust set-valued state estimation approach to the problem of vision based SLAM for mobile robots Author(s) Pathirana, Pubudu Bishop, Adrian N. Savkin, Andrey V. Ekanayake, Samitha W. Bauer, Nicholas J. Conference name European Control Conference (10th : 2009 : Budapest, Hungary) Conference location Budapest, Hungary Conference dates 23–26 August 2009 Title of proceedings ECC 2009: Proceedings of the European Control Conference 2009 Editor(s) [Unknown] Publication date 2009 Conference series European Control Conference Start page 2798 End page 2803 Publisher European Union Control Association Place of publication [Paris, France] Keyword(s) robust filtering stable SLAM visual SLAM Summary The problem of visual simultaneous localization and mapping (SLAM) is examined in this paper using ideas and algorithms from robust control and estimation theory. Using a stereo-vision based sensor, a nonlinear measurement model is derived which leads to nonlinear measurements of the landmark coordinates along with optical flow based measurements of the relative robot-landmark velocity. Using a novel analytical measurement transformation, the nonlinear SLAM problem is converted into the linear filter is guaranteed stable and the ALAM state estimation error is bounded within an ellipsoidal set. No similar results are available for the commonly employed extended Kalman filter which is known to exhibit divergent and inconsistency characteristics in practice. ISBN 9789633113691 Language eng Field of Research 090602 Control Systems, Robotics and Automation Socio Economic Objective 970109 Expanding Knowledge in Engineering HERDC Research category E1 Full written paper - refereed Copyright notice ©2009, EUCA Persistent URL http://hdl.handle.net/10536/DRO/DU:30028367 Document type: Conference Paper Collection: School of Engineering Related Links Link Description Connect to conference website Go to link with your DU access privileges     Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved. Versions Version Filter Type Fri, 16 Apr 2010, 17:09:52 EST Fri, 16 Apr 2010, 17:11:07 EST Mon, 19 Apr 2010, 11:20:55 EST Wed, 21 Apr 2010, 08:47:25 EST Wed, 21 Apr 2010, 10:41:06 EST Wed, 21 Apr 2010, 10:43:48 EST Wed, 21 Apr 2010, 11:56:08 EST Wed, 21 Apr 2010, 15:35:32 EST Fri, 23 Apr 2010, 15:04:59 EST Mon, 28 Jun 2010, 15:32:48 EST Mon, 28 Jun 2010, 15:47:42 EST Tue, 29 Jun 2010, 10:29:30 EST Fri, 16 Mar 2012, 18:01:48 EST Filtered Full Access Statistics: 448 Abstract Views, 4 File Downloads  -  Detailed Statistics Created: Fri, 16 Apr 2010, 17:09:45 EST by Sandra Dunoon

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