Globally Asymptotically Stable Sensor-Based Simultaneous Localization and Mapping
- 1 December 2013
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics
- Vol. 29 (6) , 1380-1395
Abstract
This paper presents the design, analysis, and experimental validation of a globally asymptotically stable (GAS) filter for simultaneous localization and mapping (SLAM), with application to unmanned aerial vehicles. The SLAM problem is formulated in a sensor-based framework and modified in such a way that the underlying system structure can be regarded as linear time varying for observability analysis and filter design purposes, from which a linear Kalman filter with GAS error dynamics follows naturally. The performance and consistency validation of the proposed sensor-based SLAM filter are successfully assessed with real data, acquired indoors, using an instrumented quadrotor.Keywords
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