Preliminary results on globally asymptotically stable simultaneous localization and mapping in 3-D

Pedro Lourenço, Bruno J. Guerreiro, P. Batista, P. Oliveira, C. Silvestre
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引用次数: 13

Abstract

This paper presents the design, analysis, performance evaluation, and preliminary experimental validation of a globally asymptotically stable (GAS) filter for simultaneous localization and mapping (SLAM) with application to unmanned aerial vehicles (UAVs). The SLAM problem is formulated in a sensor-based framework and modified in such a way that the system structure may be regarded as linear time-varying for observability purposes, from which a Kalman filter with GAS error dynamics follows naturally. The proposed solution includes the estimation of both body-fixed linear velocity and rate-gyro measurement biases. Both simulation results and preliminary experimental results, using an instrumented quadrotor equipped with a RGB-D camera, are included in the paper to illustrate the performance of the algorithm under realistic conditions.
三维全局渐近稳定同步定位与映射的初步结果
本文介绍了一种用于无人机同时定位和映射(SLAM)的全局渐近稳定(GAS)滤波器的设计、分析、性能评估和初步实验验证。SLAM问题是在基于传感器的框架中制定的,并且为了可观测性的目的,对系统结构进行了修改,使其可以被视为线性时变的,由此自然产生了具有GAS误差动态的卡尔曼滤波器。所提出的解决方案包括对固定体线速度和速率陀螺测量偏差的估计。为了说明该算法在现实条件下的性能,文中给出了仿真结果和安装RGB-D相机的四旋翼仪的初步实验结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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