DocumentCode :
574705
Title :
Sensor-based simultaneous localization and mapping — Part II: Online inertial map and trajectory estimation
Author :
Guerreiro, Bruno J. ; Batista, Pedro ; Silvestre, Carlos ; Oliveira, P.
Author_Institution :
Inst. for Syst. & Robot., Tech. Univ. of Lisbon, Lisbon, Portugal
fYear :
2012
fDate :
27-29 June 2012
Firstpage :
6334
Lastpage :
6339
Abstract :
A novel sensor-based filter for simultaneous localization and mapping (SLAM), featuring globally asymptotically stable error dynamics, is proposed in a companion paper, with application to uninhabited aerial vehicles (UAVs). This paper presents the second part of the algorithm, detailing a computationally efficient and numerically robust method for online inertial map and trajectory estimation based on the estimates provided by the SLAM filter previously derived. Central to the solution is the formulation of an optimization problem, that of finding the translation and the rotation that best explain the transformation between two sets of landmarks, with known associations, for consecutive time instants. The validation, performance, and consistency assessment of the proposed SLAM algorithm is successfully performed with real data, which was acquired by an instrumented quadrotor.
Keywords :
SLAM (robots); asymptotic stability; autonomous aerial vehicles; filtering theory; optimisation; robust control; sensors; trajectory control; SLAM algorithm; SLAM filter; UAV; error dynamics; globally asymptotic stability; online inertial map; optimization problem; quadrotor; robust method; sensor-based filter; sensor-based simultaneous localization and mapping; trajectory estimation; uninhabited aerial vehicle; Closed-form solutions; Estimation; Simultaneous localization and mapping; Trajectory; Vectors; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference (ACC), 2012
Conference_Location :
Montreal, QC
ISSN :
0743-1619
Print_ISBN :
978-1-4577-1095-7
Electronic_ISBN :
0743-1619
Type :
conf
DOI :
10.1109/ACC.2012.6315296
Filename :
6315296
Link To Document :
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