A Robust Solution to the Stereo-Vision-Based Simultaneous Localization and Mapping Problem with Steady and Moving Landmarks
The problem of visual simultaneous localization and mapping (SLAM) is examined in this paper using recently developed ideas and algorithms from modern robust control and estimation theory. A nonlinear model for a stereo-vision-based sensor is derived that 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 domain and solved using a robust linear filter. Actually, the linear
filter is guaranteed stable and the SLAM state estimation error is bounded within an ellipsoidal set. A mathematically rigorous stability proof is given that holds true even when the landmarks move in accordance with an unknown control input. No similar results are available for the commonly
employed extended Kalman filter, which is known to exhibit divergence and inconsistency characteristics in practice. A number of illustrative examples are given using both simulated and real vision data that further validate the proposed method.
No Reference information available - sign in for access.
No Citation information available - sign in for access.
No Supplementary Data.
No Article Media
ROBUST STATE ESTIMATION;
Document Type: Research Article
School of Engineering and IT, Deakin University, VIC 3217, Australia;, Email: [email protected]
School of Engineering Telecommunications, University of New South Wales, Sydney, NSW 2052, Australia
School of Engineering and IT, Deakin University, VIC 3217, Australia
Publication date: 2011-01-01