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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A robust set-valued state estimation approach to the problem of vision based SLAM for mobile robots
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.
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