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.

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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
Total pages 6
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
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