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A robust set-valued state estimation approach to the problem of vision based SLAM for mobile robots
conference contribution
posted on 2009-01-01, 00:00 authored by Pubudu PathiranaPubudu Pathirana, Adrian Bishop, A Savkin, Samitha Ekanayake, Nicholas Joel BauerThe 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.
History
Event
European Control Conference (10th : 2009 : Budapest, Hungary)Pagination
2798 - 2803Publisher
European Union Control AssociationLocation
Budapest, HungaryPlace of publication
[Paris, France]Start date
2009-08-23End date
2009-08-26ISBN-13
9789633113691Language
engPublication classification
E1 Full written paper - refereedCopyright notice
2009, EUCATitle of proceedings
ECC 2009: Proceedings of the European Control Conference 2009Usage metrics
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