• DocumentCode
    184799
  • Title

    Experimental implementation of an Invariant Extended Kalman Filter-based scan matching SLAM

  • Author

    Barczyk, Martin ; Bonnabel, Silvere ; Deschaud, Jean-Emmanuel ; Goulette, Francois

  • Author_Institution
    Centre de Robot., Mines ParisTech, Paris, France
  • fYear
    2014
  • fDate
    4-6 June 2014
  • Firstpage
    4121
  • Lastpage
    4126
  • Abstract
    We describe an application of the Invariant Extended Kalman Filter (IEKF) design methodology to the scan matching SLAM problem. We review the theoretical foundations of the IEKF and its practical interest of guaranteeing robustness to poor state estimates, then implement the filter on a wheeled robot hardware platform. The proposed design is successfully validated in experimental testing.
  • Keywords
    Kalman filters; SLAM (robots); invariant extended Kalman filter; scan matching SLAM; wheeled robot hardware platform; Iterative closest point algorithm; Observers; Simultaneous localization and mapping; Trajectory; Vehicles; Kalman filtering; Observers for nonlinear systems; Sensor fusion;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference (ACC), 2014
  • Conference_Location
    Portland, OR
  • ISSN
    0743-1619
  • Print_ISBN
    978-1-4799-3272-6
  • Type

    conf

  • DOI
    10.1109/ACC.2014.6859291
  • Filename
    6859291
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=184799